Build the repository using the following command:

colcon build --symlink-install

Make sure you have sourced ROS2 Humble in your terminal before building.

Installation

To get started, clone the repository:

git clone https://github.com/ERIC-Robotics/Testbed_ROS2_Nav2-Stack.git

colcon build

Usage

• Source your build workspace every time before running any files or nodes:

  source <path_to_your_workspace>/install/setup.bash

• To launch the Gazebo simulation and spawn the robot with all plugins:

  ros2 launch testbed_bringup testbed_gazebo_bringup.launch.py

• For SLAM (Simultaneous Localization and Mapping) functionality:

  ros2 launch testbed_navigation slam.launch.py

• For launching navigation:

  ros2 launch testbed_navigation navigation.launch.py

• MAP_NAME: testbed_world