Setup Guide for Gazebo Classic

This guide covers setting up Nav2 with Gazebo Classic simulator, used with ROS 2 Humble and previous ROS distributions.

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 Odometry - Gazebo Classic

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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 Classic

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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.