General Tutorials

Nav2 Tutorials

• Navigating with a Physical Turtlebot 3

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  Deploy Nav2 on real Turtlebot3 hardware.

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• Navigating while Mapping (SLAM)

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  Simultaneous navigation and map building.

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• Using an External Costmap Plugin (STVL)

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  Integrate Spatio-Temporal Voxel Layer for 3D perception.

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• Navigating using GPS Localization

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  Outdoor navigation with GPS waypoints.

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• Lidar-Free, Vision-Based Navigation

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  Navigate using only cameras using Nvidia Isaac ROS.

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• Navigating with Semantic Segmentation (Nvidia Jetson)

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  AI-based semantic segmentation navigation.

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• Navigating with Semantic Segmentation (SAM3, AMD Strix Halo)

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  AI-based semantic navigation using SAM3.

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• Groot Tutorials

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  Visualize and edit behavior trees with Groot.

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• Using VIO to Augment Robot Odometry

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  Visual-inertial odometry fusion for improved state estimation.

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• Dynamic Object Following

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  Track and follow moving objects.

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• Navigating with Keepout Zones

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  Restrict robot access to designated areas.

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• Navigating with Speed Limits

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  Enforce variable speed limits across the environment.

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• Navigating with Zone Parameter Overrides

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  Set ROS parameters based on the marked zones on the map.

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• Using Docking Server

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  Autonomous charging and static infrastructure docking.

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• Using Rotation Shim Controller

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  Rotate-in-place before path following.

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• Adding a Smoother to a BT

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  Integrate path smoothing into behavior trees.

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• Using Collision Monitor

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  Configure real-time collision monitoring.

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• Adding a New Nav2 Task Server

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  Build a custom task server for application-specific behaviors.

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• Filtering of Noise-Induced Obstacles

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  Remove false positive obstacles from noisy sensors.

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• Camera Calibration

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  Calibrate cameras for accurate depth and pose estimation.

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• Get Backtrace in ROS 2 / Nav2

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  Debug crashes with GDB backtraces.

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• Profiling in ROS 2 / Nav2

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  Profile CPU and memory performance.

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• Docker for Development: Zero to Hero

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  Complete Docker workflow for Nav2 development.

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• Route Server Tools

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  Create and edit route graphs for graph-based navigation.

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• Navigating with Vector Objects

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  Use dynamic geometric objects in costmaps.

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• ROSCon UK 2025: State Estimation Workshop

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  Hands-on state estimation workshop materials.

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• Enhanced Safety with 3Laws Supervisor

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  Third-party safety supervisor integration.

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• Ground Terrain Segmentation using 3D Lidar

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  Classify traversable terrain from 3D pointclouds.

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• AI Depth Estimation with Nav2 Costmap

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  ML-based monocular depth for costmap obstacle detection.

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