Setup Guide for Gazebo Classic

This guide covers setting up Navigation2 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
• Setting Up The URDF
• Setting Up Odometry - Gazebo Classic
• Smoothing Odometry using Robot Localization
• Setting Up Sensors - Gazebo Classic
• Mapping and Localization
• Setting Up the Robot’s Footprint
• Setting Up Navigation Plugins

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.