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