Omni PlayGround

easynav_playground_omni simulates three- to six-wheel omnidirectional robots in two mazes, navigating with the Costmap plugins and the Regulated Pure Pursuit controller.

See PlayGrounds to install it.

Launching EasyNav

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml

It starts Gazebo, the 3w_v2 robot in maze2, EasyNav and RViz2. Send a goal with the 2D Goal Pose tool.

The configuration (config/easynav_costmap_rpp.params.yaml) uses the Costmap maps manager, AMCL over the costmap, A* (CostmapPlanner) and Regulated Pure Pursuit. All the robots share EasyNav limits of 0.6 m/s linear and 0.5 rad/s angular velocity.

Launch arguments

Argument	Default	Description
`world`	`maze2`	Gazebo world and its EasyNav map: `maze1` or `maze2`
`robot`	`3w_v2`	Robot model: `3w`, `3w_v2`, `4w`, `5w` or `6w`
`params_file`	`config/easynav_costmap_rpp.params.yaml`	EasyNav parameter file
`rviz_config`	`rviz/easynav_costmap.rviz`	RViz2 configuration file
`map_override_file`	`config/map_overrides/<world>/map.yaml`	Parameters that select the map matching `world`

For example:

ros2 launch easynav_playground_omni easynav_navigation_gazebo_sim.launch.yaml robot:=5w world:=maze1

Simulation only

To run Gazebo and the robot, without EasyNav or RViz2:

ros2 launch easynav_playground_omni_worlds gazebo_sim.launch.yaml robot:=4w world:=maze2

It also accepts gui:=false to run Gazebo headless.

Launch files

gazebo_sim.launch.yaml: The simulation, without EasyNav: robot_state_publisher with the robot model, the Gazebo server with the world (gz sim -r -s) and its GUI client (if gui), the spawner (ros_gz_sim create), the ROS–Gazebo bridge (/clock, /imu, /scan, camera), the ros2_control spawner for the robot’s wheel controllers, and kinematics, a node of the package that turns cmd_vel into wheel commands and publishes the odometry.
easynav_navigation_gazebo_sim.launch.yaml: gazebo_sim.launch.yaml, then, after 5 s, EasyNav (easynav_system system_main) with params_file and map_override_file, and RViz2 with rviz_config. If EasyNav exits, the whole launch ends.