Ekumen-OS / andino_gz

Andino Simulation using Gazebo simulator

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Setup Nav2 for multirobot simulation #66

Closed francocipollone closed 4 months ago

francocipollone commented 4 months ago

🎉 New feature

Closes #64

Summary

Setup Nav2 for as many robot spawned.
Flags are added to:
- enable/disable nav2
- use other nav2 params
- select world and map
Updates README: Some docs and images are changed.

Test it

Read the readme to understand how to run it. However it is simply:

ros2 launch andino_gz andino_gz.launch.py nav2:=True robots:="andino1={x: 0.0, y: 0.0, z: 0.1, yaw: 0.};andino2={x: 1.0, y: 0.0, z: 0.1, yaw: 0.};"

Checklist

[x] Signed all commits for DCO
[ ] Added tests
[x] Added example and/or tutorial
[x] Updated documentation (as needed)
[ ] Updated migration guide (as needed)