navigation2 VS zed-ros2-wrapper

This line might be your issue according to this github issues post (comment at the very bottom: https://github.com/ros-planning/navigation2/issues/2283)

I recently stumbled upon system tests for Nav2, I didn't dive into details but README says that among other things they test robots in sandbox environment, might be useful.

The tutorial I was using (which comes straight from nav2) says to run ros2 launch nav2_bringup navigation_launch.py . However, when I went to tune Turtlebot3 via the .param file, it did no change whatsoever. This is because, by default, the file uses up this param file that is significantly different than burger.yaml; After changing it the costmap looks completely different. After reading the source code for the .launch file of the Turtlebot3 nav package for galactic and nav2, I've found out that running ros2 launch nav2_bringup navigation_launch.py params_file:=[PATH_TO_BURGER_YAML] works and completely fixes this issue.

I am using the nav2_bringup example (https://github.com/ros-planning/navigation2/blob/main/nav2_bringup/launch/multi_tb3_simulation_launch.py) to launch multiple robots, it works fine. This file launches a file for single robots in different namespaces. This file for single robots is also able to switch from localization to mapping, simply by launching the file with argument slam:=True. I added slam as a launch argument for tb3_simulation_launch.py when launched from multi_tb3_simulation_launch.py and when i start the multirobot file with slam:=True it seems to work partially. ROS topics with the name /robot1/slam_toolbox/feedback,/robot1/slam_toolbox/update and /robot2/slam_toolbox/feedback ,/robot2/slam_toolbox/update get created, but /slam_toolbox/graph_visualization and /slam_toolbox/scan_visualization are only there once and not for every robot. In RVIZ there is no sign of SLAM working.

Hey, I am not sure if you can or even want but you could have a look into the C++ DWB planner plugin which is used in the nav2 stack.

I have tried all different kinds of headers in the python script (for instance, I have tried a header format like this), and it still complains about copyright linting. I have tried to remove every reference to linting in my package.xml and CMakeLists.txt but colcon/ament just keeps complaining about linting errors.

# Based on https://gitlab.com/nvidia/container-images/l4t-base/-/blob/master/Dockerfile.l4t # https://github.com/dusty-nv/jetson-containers/blob/master/Dockerfile.ros.foxy # https://github.com/codustry/jetson-containers/blob/master/Dockerfile.ros.foxy ARG L4T_MINOR_VERSION=5.0 FROM codustry/ros:foxy-ros-base-l4t-r32.${L4T_MINOR_VERSION} # # ZED Jetson # https://github.com/stereolabs/zed-docker/blob/master/3.X/jetpack_4.X/devel/Dockerfile # ARG ZED_SDK_MAJOR=3 ARG ZED_SDK_MINOR=5 ARG JETPACK_MAJOR=4 ARG JETPACK_MINOR=5 #This environment variable is needed to use the streaming features on Jetson inside a container ENV LOGNAME root ENV DEBIAN_FRONTEND noninteractive RUN apt-get update -y && apt-get install --no-install-recommends lsb-release wget less udev sudo apt-transport-https build-essential cmake openssh-server libv4l-0 libv4l-dev v4l-utils binutils xz-utils bzip2 lbzip2 curl ca-certificates libegl1 python3 -y && \ echo "# R32 (release), REVISION: 5.0" > /etc/nv_tegra_release ; \ wget -q --no-check-certificate -O ZED_SDK_Linux_JP.run https://download.stereolabs.com/zedsdk/${ZED_SDK_MAJOR}.${ZED_SDK_MINOR}/jp${JETPACK_MAJOR}${JETPACK_MINOR}/jetsons && \ chmod +x ZED_SDK_Linux_JP.run ; ./ZED_SDK_Linux_JP.run silent skip_tools && \ rm -rf /usr/local/zed/resources/* \ rm -rf ZED_SDK_Linux_JP.run && \ rm -rf /var/lib/apt/lists/* #This symbolic link is needed to use the streaming features on Jetson inside a container RUN ln -sf /usr/lib/aarch64-linux-gnu/tegra/libv4l2.so.0 /usr/lib/aarch64-linux-gnu/libv4l2.so # # Configure Enviroment for ROS RUN echo 'source /opt/ros/foxy/install/setup.bash' >> ~/.bashrc # RUN echo "source /opt/ros/eloquent/setup.bash" >> ~/.bashrc RUN echo 'source /usr/share/colcon_cd/function/colcon_cd.sh' >> ~/.bashrc # RUN echo "export _colcon_cd_root=~/ros2_install" >> ~/.bashrc # echo $LD_LIBRARY_PATH RUN echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/cuda-10.2/targets/aarch64-linux/lib/stubs:/opt/ros/foxy/install/lib' >> ~/.bashrc WORKDIR /root/Downloads RUN wget https://developer.nvidia.com/embedded/L4T/r32_Release_v5.0/T186/Tegra186_Linux_R32.5.0_aarch64.tbz2 RUN tar xf Tegra186_Linux_R32.5.0_aarch64.tbz2 RUN cd Linux_for_Tegra && \ sed -i 's/config.tbz2\"/config.tbz2\" --exclude=etc\/hosts --exclude=etc\/hostname/g' apply_binaries.sh && \ sed -i 's/install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/#install --owner=root --group=root \"${QEMU_BIN}\" \"${L4T_ROOTFS_DIR}\/usr\/bin\/\"/g' nv_tegra/nv-apply-debs.sh && \ sed -i 's/LC_ALL=C chroot . mount -t proc none \/proc/ /g' nv_tegra/nv-apply-debs.sh && \ sed -i 's/umount ${L4T_ROOTFS_DIR}\/proc/ /g' nv_tegra/nv-apply-debs.sh && \ sed -i 's/chroot . \// /g' nv_tegra/nv-apply-debs.sh && \ ./apply_binaries.sh -r / --target-overlay RUN rm -rf Tegra210_Linux_R32.4.4_aarch64.tbz2 && \ rm -rf Linux_for_Tegra && \ echo "/usr/lib/aarch64-linux-gnu/tegra" > /etc/ld.so.conf.d/nvidia-tegra.conf && ldconfig WORKDIR /usr/local/zed ENV CUDA_HOME=/usr/local/cuda WORKDIR /root/ros2_ws/src/ RUN source /opt/ros/foxy/install/setup.bash && cd ../ && colcon build --symlink-install RUN git clone https://github.com/stereolabs/zed-ros2-wrapper.git RUN git clone https://github.com/ros/diagnostics.git && cd diagnostics && git checkout foxy WORKDIR /root/ros2_ws RUN source /opt/ros/foxy/install/setup.bash && source $(pwd)/install/local_setup.bash && rosdep update && \ rosdep install --from-paths src --ignore-src -r --rosdistro ${ROS_DISTRO} -y && \ colcon build --symlink-install --cmake-args " -DCMAKE_BUILD_TYPE=Release" " -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs" " -DCUDA_CUDART_LIBRARY=/usr/local/cuda/lib64/stubs" " -DCMAKE_CXX_FLAGS='-Wl,--allow-shlib-undefined'" && \ echo source $(pwd)/install/local_setup.bash >> ~/.bashrc && \ source ~/.bashrc