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abizovnuralem / go2_omniverse

Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)
BSD 2-Clause "Simplified" License
395 stars 37 forks source link

Need Guidance on Using Nav2 for Navigation with ROS2 Humble for Go2 robots #16

Closed rawias closed 4 months ago

rawias commented 4 months ago

I am currently using ROS2 Humble and Isaac Sim 4.0.0 to work with Go2 robots. According to the README file of this repository, Nav2 navigation is supported as indicated by the checklist item "9. Nav2 with Slam_toolbox ✅". However, after running ./run_sim.sh, I found no topics to assign goal positions to the robots. As explained in the instructions, the only available control method is using the WASD keys.

Additionally, in another repository go2_ros2_sdk, which is also mentioned in the README file that it can be the base for the ROS2 setup, it says that "Navigation (nav2) (in the current version is not working, need to fix params)".

I would like to request guidance on how I can enable and use Nav2 for navigation with Go2 robots. Specifically, I am looking for some instructions or examples on how to set goal positions via Nav2 and send /cmd_vel for each of my multiple robots following the setup explained in this repo.

Your assistance would be greatly appreciated. Thank you for your help in advance

abizovnuralem commented 4 months ago

Hello @rawias , currently go2_ros2_sdk nav2 support is on hold. I need some time to deal with that. If you want, you can help with that. The nav2 support was on the previous commits of this repo and go2_ros2_sdk, you can see the examples. Before multi robot support commits,