Courses / programming

ROS 2 Navigation

intermediate~20 hours15 lessonsEnvironment: docker

Prerequisites: gazebo-sim, ros2-advanced, kinematics-mobile-robots

Start: Anatomy of Nav2Practice questions

Modules

Module 1 — The Nav2 stack
  1. 1Anatomy of Nav2
  2. 2Launching Nav2 with your simulated robot
  3. 3Sending goals from RViz and code
Module 2 — Mapping
  1. 1Occupancy grids
  2. 2SLAM Toolbox: building a map
  3. 3Saving and serving maps
Module 3 — Costmaps
  1. 1Global and local costmaps
  2. 2Inflation and footprint
  3. 3Costmap layers and plugins
Module 4 — Planning and control
  1. 1Global planners
  2. 2Local controllers
  3. 3Choosing and tuning a controller
Module 5 — Autonomy behaviors
  1. 1Waypoint following
  2. 2Keepout zones and speed limits
  3. 3Project: patrol robot in a simulated warehouse

Textbooks

Video resources

  • Nav2 series — Articulated Robotics