Setup Guide for Gazebo

This guide covers setting up Nav2 with the modern Gazebo simulator (Gazebo Harmonic or newer), used with ROS 2 Jazzy or newer.

Follow these tutorials in order to set up your robot for Nav2:

• Setting Up Transformations

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  Configure TF2 transforms between robot frames.

  Go

• Setting Up The URDF

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  Create the robot description your robot.

  Go

• Setting Up The SDF - Gazebo

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  Create the simulation model for Gazebo.

  Go

• Setting Up Odometry - Gazebo

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  Configure wheel encoders and odometry publishers.

  Go

• Smoothing Odometry using Robot Localization

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  Fuse IMU and wheel odometry with an EKF for smoother estimates.

  Go

• Setting Up Sensors - Gazebo

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  Configure lidar, depth cameras, and other perception sensors.

  Go

• Mapping and Localization

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  Create maps with SLAM and localize with AMCL.

  Go

• Setting Up the Robot's Footprint

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  Define the robot's physical footprint for collision checking.

  Go

• Setting Up Navigation Plugins

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  Select and configure planner, controller, and behavior plugins.

  Go

Note

These tutorials are not meant to be full tuning and configuration guides since they only aim to help you get your robot up and running with a basic configuration. For more detailed discussions and guides on how to customize and tune Nav2 for your robot, head on to the Configuration Guide section.