Enable navigation in the simulator with navigation2 - Qualcomm Dragonwing Documentation

simulation_amr_navigation is a simulated sample application that demonstrates how to run navigation2 on Qualcomm robotics platforms within the simulator. The QRB ROS Simulation is a ROS project designed to set up the Qualcomm robotic simulation environment.

Figure: Sample results of simulation_amr_navigation

Pipeline flow for `simulation_amr_navigation`

Figure: Pipeline flow for simulation_amr_navigation

ROS nodes used in the `simulation_amr_navigation` pipeline

ROS node	Description
`qrb_ros_simulation`	`qrb ros simulation` is a ROS package that sets up the Qualcomm robotic simulation environment. For details, see QRB ROS Simulation.
`navigation2 nodes`	`navigation2` is the professionally-supported successor of the ROS Navigation Stack. It allows for mobile robots to navigate through complex environments to complete user-defined application tasks with nearly any class of robot kinematics.

ROS topics used in the `simulation_amr_navigation` pipeline

ROS topic	Type	Published by	Description
`/map`	`nav_msgs::msg::OccupancyGrid`	`cartographer_occupancy_grid_node`	The 2D occupancy grid map of the environment.
`/tf`	`tf2_msgs::msg::TFMessage`	`cartographer_occupancy_grid_node`, `qrb_ros_simulation`	Spatial relationships between different coordinate frames.
`/scan`	`sensor_msg::msg::LaserScan`	`qrb_ros_simulation`	2D laser scan data.
`/goal_pose`	`geometry_msgs::msg::PoseStamped`	`Application to call navigation2`	The target pose for navigation, including position and orientation in the map frame.

Prerequisites

You have completed the following settings in Set up the environment for running sample applications (Skip the settings of Set up host docker).

Set up the device
Set up the host computer

NoteEnsure that the board is connected to the simulation host using an Ethernet cable. Otherwise, the sample’s performance may degrade due to data transmission issues.

Set up the simulation environment

On your host computer, complete the following actions to build the Qualcomm robotic simulation environment according to the README of QRB ROS Simulation. Ensure that the device and the host are on the same local network and can communicate with each other through ROS communication.
1. Set up development environment on Ubuntu24.04 host.
2. Build from source.

Run the QRB Robot Base AMR Mini on the host.

# Set the ROS_DOMAIN_ID
export ROS_DOMAIN_ID=123
ros2 launch qrb_ros_sim_gazebo gazebo_robot_base_mini.launch.py world_model:=ionic

Run out-of-the-box `navigation2`

Try me

Configure navigation2 parameters

Configure navigation2 parameters to use GracefulController.

sed -i.bak -E 's/^([[:space:]]*)plugin: "nav2_mppi_controller::MPPIController"/\1#plugin: "nav2_mppi_controller::MPPIController"\n\1plugin: "nav2_graceful_controller::GracefulController"/' /usr/ros/jazzy/share/nav2_bringup/params/nav2_params.yaml

Run the 2D lidar SLAM

source /usr/share/qirp-setup.sh
export ROS_DOMAIN_ID=123
ros2 launch cartographer_ros qrb_2d_lidar_slam_gazebo_sim.launch.py

Run the qrb_slam_service_request script

In a new terminal, run the following commands.

ssh root@[IP address]
source /usr/share/qirp-setup.sh
export ROS_DOMAIN_ID=123
chmod 777 /usr/ros/jazzy/share/cartographer_ros/scripts/qrb_slam_service_request.sh
bash /usr/ros/jazzy/share/cartographer_ros/scripts/qrb_slam_service_request.sh

Start mapping

Use the keyboard to send 0 control commands to start mapping.

Run navigation2

In a new terminal, run the following commands.

source /usr/share/qirp-setup.sh
export ROS_DOMAIN_ID=123
ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true

Send the navigation goal

In a new terminal, run the following commands to send the navigation goal and start navigation.

export ROS_DOMAIN_ID=123
ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose "{pose: {header: {stamp: {sec: 0, nanosec: 0},frame_id: 'map'},pose: {position: {x: 1.0,y: 1.0,z: 0.0},orientation: {x: 0.0,y: 0.0,z: 0.0,w: 1.0}}}}"

​Pipeline flow for simulation_amr_navigation

​ROS nodes used in the simulation_amr_navigation pipeline

​ROS topics used in the simulation_amr_navigation pipeline

​Prerequisites

​Set up the simulation environment

​Run out-of-the-box navigation2

Pipeline flow for `simulation_amr_navigation`

ROS nodes used in the `simulation_amr_navigation` pipeline

ROS topics used in the `simulation_amr_navigation` pipeline

Prerequisites

Set up the simulation environment

Run out-of-the-box `navigation2`