Tutorial code referenced from https://navigation.ros.org/
This custom robot integrated with gps,imu,depth_camera plugins.(You can find the plugin integration in description/urdf/black_donut.xacro)
-Add the Sonoma_Raceway model zip file to your ~/.gazebo/model/ and extrect it to load in the gazeo world.
-Run gazebo default(empty_world) and find Sonoma_Raceway in insert tab in the top-left corner of gazebo. -And Save that world in (your_workspace)/gazebo/world/ and name that world as 'sonoma_raceway.world'
-This is the docker image for tile_map that I used.
sudo apt install -y ros-humble-gazebo-ros*
sudo apt install -y ros-humble-ros2-control*
sudo apt install -y ros-humble-controller-*
sudo apt install -y ros-humble-navigation2
sudo apt install -y ros-humble-nav2-bringup
sudo apt install -y ros-humble-twist-mux ros-humble-nav2*
sudo apt install -y ros-humble-robot-localization
sudo apt install -y ros-humble-slam-toolbox
sudo apt install -y ros-humble-mapviz*
sudo apt install -y ros-humble-tile-map
sudo apt install -y ros-humble-gps-tools
-go to your workspace
colcon build --symlink-install
source install/setup.bash
- run tile map server first
sudo docker run -p 8080:8080 -d -t -v ~/mapproxy:/mapproxy danielsnider/mapproxy
ros2 launch rlbd_gazebo black_donut_sim_ros2_control.launch.py
ros2 launch rlnav2 gps_waypoint_follower.launch.py
- In mapviz, put the url of your tile map server.
- And get the gps data from topic in mapviz.
TODO : -to add gps waypoint logger and follower