Custom controller

A custom controller plugin for Navigation2 API (ROS2 Galactic). The controller has been tested with turtlebot3 burger simulation. It is based on Navigation2 pure pursuit controller, and is using collision detection from Navigation2 regulated pure puresuit controller.

Packages

This repository contains three packages.

• turtlebot_bringup: all configuration files and launch files to bringup the custom controller with a turtlebot3 burger simulation
• custom_pure_pursuit_controller: the sources of the custom controller and of the custom progress checker (both exported as Navigation2 controller plugins)
• custom_msgs: custom message definition for the progress checker to publish

Prequisites

• Install ROS2 Galatic
• Install Nav2: sudo apt install ros-galactic-navigation2 ros-galactic-nav2-bringup
• Install TurtleBot3: sudo apt install ros-galactic-turtlebot3*
• Install Colcon: sudo apt install python3-colcon-common-extensions

Install project

• Clone this project: git clone https://github.com/anaelle-sw/custom_controller.git custom_controller_ws/src
• Build this project:

cd custom_controller_ws
colcon build

Launch project

• Source ROS2 and project:

source /opt/ros/galactic/setup.bash
source ~/custom_controller_ws/install/local_setup.bash

• Export the path to the Gazebo models for Turtlebots: export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/galactic/share/turtlebot3_gazebo/models
• Launch project: ros2 launch turtlebot_bringup simulation_bringup.launch.py

Use the custom controller

• Using Rviz's plugin "2D Pose Estimate", localize the robot approximately here:

• The robot should now be localized and the local and global costmap should be displayed:

• Usign Rviz's plugin "Nav2 Goal", send the robot anywhere in the map:

• The robot should follow the diplayed global path, usign the custom controller:

• You can test the collision detection by generating a box via Gazebo. The box must be placed on the global path, while the robot is still moving: