SLAM & Nav2 Availability

[RiccardoZuppetti]

Hi, I saw that both Slam and Navigation features are currently being worked on, will they be available in the next few weeks?

[Juancams]

Hello @RiccardoZuppetti

Yes, you could say that it is finished, just needing to give it a few more tests. Everything is in #20 , which I encourage you to try and give us your opinion on whether it works correctly.

It says foxy but it can be tested in humble and jazzy versions, as long as it is launched from your computer, or launched inside the robot in its foxy version.

Greetings.

[RiccardoZuppetti]

Hi @Juancams

Thanks for the prompt response, I'll definetly give a try to the content of the PR and I'll give to you my feedback usage as well. By the way, I've noticed that still there is not a config for the slam feature, it will come after these final tests?

[Juancams]

For slam you would have to use the same launcher configurations that were made for browsing, and regarding the params file, you would only have to indicate the topics and frames.

We will try to have everything uploaded at the same time.

[mebha]

Hi, could you please tell me how to implement SLAM and nav2? Thanks in advance.
Also,please share if you have any updates on the SLAM and Nav2.

[Juancams]

Hello!

Nav2 is available, but we haven't uploaded a file for Slam. We will do some tests and add it in the next few days.

Regards.

[nathanielsade]

hi does the nav2 and slam
works ?

[Juancams]

Although there is no slam package, you can use the generic one, adding the topic you are going to use for laser and the frame_id of the robot.

Nav2 works correctly.

[nathanielsade]

I'm connected to the robot via an Ethernet cable, but when I run the command ros2 launch go2_bringup go2.launch.py rviz:=True, it doesn't seem like there is any connection. Whether the cable is connected or not, the result is the same. The robot model doesn't appear correctly, and there is no indication of any connection.

How should I run the commands to ensure the robot is properly connected and functioning with the setup? Can it be done from my PC via cable, or do I need to run them directly on the robot?

[judy33a]

@nathanielsade connect ur pc and the robot via ethernet and run the code on the robot (clone the repo on the go2), run rviz2 on the pc if you want to visualize your data/robot, (note that the distro on the go2 is ros2 foxy in case u need to install missing libraries)

[nathanielsade]

Although there is no slam package, you can use the generic one, adding the topic you are going to use for laser and the frame_id of the robot.

Nav2 works correctly.

Hi, thanks for your answer.

I'm new to the robotics world. Could you please be more specific?

Which topics should I add, and where, to enable the robot to navigate? I know that I need to create a map inside RViz, and after that, I can send it a target.

[Juancams]

I'm going to leave you here with one of the most typical tutorials for slam, I hope it helps. If you find it too difficult, I'm working these weeks on creating a documented website with everything dog-related, including a slam section.

[Juancams]

A version of the package, not yet final, for slam has just been uploaded to this repository. For now, with a few minor modifications discussed in this issue, and everything in the development branches, slam can be implemented easily.

When everything is merged into the stable branches, we will notify and close this issue.

Regards ^^

[belbo9]

Hi @Juancams
I hope you are well mate. Just wanted to ask for an update on your final version of SLAM if possible?
Thanks you.

[Juancams]

Hello!

The current version of SLAM, even though it's on a devel branch, is practically the final version. I recommend using that one and adjusting the params.yaml if necessary.

[natxodeuser]

Good morning everyone, I'm trying to get the nav2 to start moving the go2 around the room after the slam. But I can't get it to work smoothly; sometimes the motors start shaking, and when it reaches the goal, it starts spinning. I'd like to know if you have a nav2_params.yaml file that I could use as a reference?