Simple ROS2 NAV2 Example (Unsupported on Windows, but works in WSL)

The start task in PIXI runs the entire ROS2 launch command:

pixi run start

Executing this command will initiate the following:

• Gazebo: This physics simulator recreates the environment the robot navigates and collects sensor data.
• RViz2: As the ROS2 visualizer, it displays the robot's environment and allows control of the navigation.
• Navigation Stack: This comprises several elements, including a TurtleBot3 simulation, a map server, a controller server for managing requests, among other components.

Please note that the startup process may take a while.

Navigation Usage Instructions

• Ensure both RViz and Gazebo have successfully launched.
• In the RViz top bar, select 2D Pose Estimate.
• Click and drag on the map to indicate the robot's approximate location. Accuracy is not crucial here; it's just a rough estimate.
• The map and odometry should now be connected.
• Choose Nav2 Goal from the top bar of RViz, then click on any location on the map to direct the robot there.