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ROS2 Nav2 [Navigation 2 Stack] – with SLAM and Navigation

سرفصل های دوره

Finally Understand the Nav2 Stack with ROS2 - SLAM, Mapping, Navigation, Gazebo Simulation, Python Code - Step by Step


1. Introduction
  • 1. Welcome to the ROS2 Nav2 Course!
  • 2. What Is the Navigation (2) Stack, and Why Do We Need It
  • 3. How to get the most out of this course

  • 2. Setup and Installation for ROS2 and Nav2
  • 1. Intro
  • 2. [Recap] Install and Setup ROS2 on Ubuntu 22.04
  • 3. Install the Navigation 2 Stack
  • 4. Install the Tools Well Need For the Course

  • 3. Generate a Map with SLAM (Simultaneous Localization and Mapping)
  • 1.1 SLAM Steps (ROS2 Nav2 Course - Section 3).pdf
  • 1. Intro
  • 2. Make the Robot Move in the World
  • 3. Generate and Save a Map with SLAM in ROS2
  • 4. Whats Inside the Generated Map
  • 5. SLAM Activity - Create a New Map in Turtlebot3 House
  • 6.1 slam activity map solution.zip
  • 6. SLAM Activity - Solution

  • 4. Make a Robot Navigate with Nav2
  • 1.1 Navigation Steps (ROS2 Nav2 Course - Section 4).pdf
  • 1. Intro
  • 2. A Quick Fix We Need To Do Before Starting
  • 3. Make the Robot Navigate Using the Generated Map
  • 4. Waypoint Follower - Go Through Multiple Nav2 Goals
  • 5. Dynamic Obstacle Avoidance
  • 6. Navigation Activity - Navigation with turtlebot3 house
  • 7. Navigation Activity - Solution

  • 5. Understand the Nav2 Stack
  • 1. Intro
  • 2. Global Planner, Local Planner and Costmaps
  • 3. Parameters
  • 4. Recovery Behavior
  • 5. TFs and Important Frames
  • 6. The Nav2 Architecture - Explained Step by Step

  • 6. Build Your Own World for Navigation in Gazebo
  • 1. Intro
  • 2. Build and Save a World in the Gazebo Building Editor
  • 3.1 floorplan example.zip
  • 3. Import a Floor Plan
  • 4. Add Objects To the World
  • 5. Make Turtlebot3 Navigate In That World (Step 1)
  • 6.1 turtlebot3 gazebo.zip
  • 6. Make Turtlebot3 Navigate In That World (Step 2)
  • 7. Make Turtlebot3 Navigate In That World (Step 3)
  • 8. Tips How To Fix and Improve Maps with Gimp
  • 9.1 5 by 5 maze.zip
  • 9. Custom World Activity - Make a Robot Navigate into a Generated Maze
  • 10. Custom World Activity - Solution (Step 1)
  • 11. Custom World Activity - Solution (Step 2)
  • 12.1 custom world activity solution.zip
  • 12. Custom World Activity - Solution (Step 3)

  • 7. Intro to Adapting a Custom Robot for Nav2 (Steps Overview)
  • 1. Intro
  • 2.1 my robot.zip
  • 2. TFURDF
  • 3. InputOutput - Odometry, Sensors and Controller
  • 4.1 SLAM and Navigation Steps for Any Robot (ROS2 Nav2 Course - Section 7).pdf
  • 4. Run Navigation With Your Custom Robot
  • 5. Launch File + Parameters

  • 8. Interact Programmatically With the Navigation Stack
  • 1. Intro
  • 2. Discover what Topics and Actions are Used
  • 3. Simple Commander API - Install and Set the Initial Pose
  • 4. Simple Commander API - Send a Nav2 Goal
  • 5.1 simple commander api template.zip
  • 5. Simple Commander API - Waypoint Follower + Downloadable Template
  • 6. Simple Commander API Activity - Create a Robot Patrol
  • 7.1 simple commander api activity solution.zip
  • 7. Simple Commander API Activity - Solution

  • 9. Conclusion
  • 1. What to do next
  • 2. Bonus Lecture.html
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