ROS2 Humble Navigation2 upgrade reminder



Using Navigation2Isaac SIM 2022.2.0

  • Its original Japanese document is released in Qiita
    • My published document copy to Zenn
  • Hope your help to migrate Ubuntu 22.04 / Isaac SIM 2022.2.0
    • Anaconda environment


Isaac SIM sample list

項目 2022.1.x 2022.2.0
Ubuntu version 20.04 22.04
Carter V1 smiliar with V1
Moveit2 Foxy Humble
ROS2 Foxy Humble(recommended)

1.Humble setup(binary)


  • Set locale should be UTF-8. To avoid trouble.

    • Fortunately, my locale is UTF-8. I don't need change locale.
  • More detail, please refer to ROS2 official. Because this article is for users who are availble to use foxy before.

command line list from official site
ROS install

sudo apt install software-properties-common
sudo add-apt-repository universe

sudo apt update && sudo apt install curl
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Binary install process

  • desktop package is all in one.
ROS2 Humble install

sudo apt update
sudo apt upgrade -y

sudo apt install ros-humble-desktop
sudo apt install ros-dev-tools

echo "source /opt/ros/humble/setup.bash" >> .bashrc


  • According to Talker-listener:IsaacSIM, it is acceptable but double check result just in case.
    Screenshot from 2023-03-02 14-49-17.png

  • Implement colcon build to sample of 2022.2.0

    • For my checking is no difference from previous sample

    • If you find error message about Moveit, please install Moveit2. Before build sample

2.Navigation2additional components(optional)



  • They may be intalled with Humble package.
Navigation2 install

sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup '~ros-humble-turtlebot3-.*'

Moveit install

sudo apt install ros-humble-moveit

3.lauch Isaac SIM and check

  • Since ver 2022.2x Menu list location is changed.
  • Open Extension menu after disable ROS、enable ROS2 Humble.

Failure example ROS2 Humble invalid(only ROS2 selectable)


**all menu is unknown **

  • When I met this issue, I didn't install Moveit. although execute colcon build.
  • ROS2 was removed and re-install but I don't reuse work space which is build in ROS2 foxy.
  • Btw 'ros2 topic echo /tf' response is normal


  • OK, modify the yaml file in the Navigation param folder.

#robot_model_type: "Differential"
robot_model_type: "nav2_amcl::DifferentialMotionModel"

Please modify yaml in the acml parameter.

  • Navigation2 parameter is changed from Foxy sample.

2 - Under bt_navigator: (Added all the plugins that were missing)

bt_navigator: under -nav2 xxxをparameters need to replace as below link


Success sample


IssacSIM 2022.2.0 on the Foxy using sample


Navigation2 menu of Rviz2 is different from Humble, but you can set parameter -Window>Extension > ROS2 Humble chosose enable in the IssacSIM menu.