NAV2 - Gazebo does not load model

Question

Hi there,

I am running this tutorial https://navigation.ros.org/getting_started/index.html#installation I am using ROS2 Foxy in Ubuntu 20.04 and Gazebo 9

I have exported the models as the tutorial explains:

 source /opt/ros/<ros2-distro>/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/<ros2-distro>/share/turtlebot3_gazebo/models

However, Gazebo is not loading:

I should have this behavior at the end when setting a 2D goal pose to the robot:

https://navigation.ros.org/_images/navigation_with_recovery_behaviours.gif

But I am not having success in localizing the robot...

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Originally posted by Vini71 on ROS Answers with karma: 266 on 2023-02-08

Post score: 0

Answer 1

It looks like you didn't fill in the ROS2 Distribution :-)

../<ros2-distro>/...

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Originally posted by stevemacenski with karma: 8272 on 2023-02-08

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by Vini71 on 2023-02-09:
Hi Steve,

I fulfilled the export statement with "ros2-foxy" instead of "foxy". In addition, I have installed additional pkg:

sudo apt-get install ros-foxy-turtlebot3-gazebo* sudo apt-get install ros-foxy-robot-state-publisher*

Then it worked. Steve, I checked your podcast with Ricardo and the NAV2 documentation. I decided to use NAV2 for our research, which uses an autonomous truck for off-road monitoring applications. We were using Autoware.Universe, but we checked that it is "too much" for our simple scenario and decision-making needs. I checked that NAV2 works for Ackermann types, but even for a big truck?

I am also "afraid" about the localization pkg: The NDT-MCL localizer you mentioned on the podcast. We do have velodynes, but we're off-road, so we don't have a previous map with landmarks to match. Is this something impeditive to using NAV2 off-road?

What is your consideration in this regard? Do you have some success of-road cases to share a link? Thanks