Loopback Simulator¶
Source code on Github.
The nav2_loopback_sim
is a stand-alone simulator to create a “loopback” for non-physical simulation to replace robot hardware, physics simulators (Gazebo, Bullet, Isaac Sim, etc).
It computes the robot’s odometry based on the command velocity’s output request to create a perfect ‘frictionless plane’-style simulation for unit testing, system testing, R&D on higher level systems, testing behaviors without concerning yourself with localization accuracy or system dynamics, and multirobot simulations.
Parameters¶
- update_duration
Type
Default
double
0.01
- Description
The duration between updates (s)
- base_frame_id
Type
Default
string
“base_link”
- Description
The base frame to use.
- odom_frame_id
Type
Default
string
“odom”
- Description
The odom frame to use.
- map_frame_id
Type
Default
string
“map”
- Description
The map frame to use.
- scan_frame_id
Type
Default
string
“base_scan”
- Description
The scan frame to use to publish a scan for collision monitor’s happiness
Example¶
loopback_simulator:
ros__parameters:
base_frame_id: "base_footprint"
odom_frame_id: "odom"
map_frame_id: "map"
scan_frame_id: "base_scan" # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
update_duration: 0.02