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
|Carter||V1||smiliar with V1|
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
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.
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.
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
- They may be intalled with Humble package.
sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup '~ros-humble-turtlebot3-.*'
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.
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
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.