Set up Nav2 about andino

[nahueespinosa]

@agalbachicar In fact, I haven't started yet, but it should be very easy. I'll unassign myself then. Happy to help whoever is going to take care of this task.

[nahueespinosa]

However, we would also like to assess the possibility of using Beluga in order to replace nav2_amcl.
...
Could you provide us some insight about this topic?

We already did this, here is a branch with example launch files Ekumen-OS/beluga#213.

To start setting up localization with nav2_amcl, I'd recommend using this file as reference: https://github.com/ros-planning/navigation2/blob/main/nav2_bringup/launch/localization_launch.py

beluga_amcl is a drop-in replacement, so once nav2_amcl is working, it is only a matter of installing Beluga from source and replacing the localization node name in a launch file.

@francocipollone got slam_toolbox working as well.

[francocipollone]

I would start by setting up Nav2 as it is, once that is working we can parallel the work in order to choose beluga as the replacement for nav2_amcl. Beluga's binaries are not yet released via ROS 2 build farm so it demands an extra step of building the library. For the simulation, we can simply add this step to the dockerfile. For the real robot it is necessary to bring the repo and build it.

@francocipollone got slam_toolbox working as well.

I will push some stuff to launch slam_toolbox #49 shortly

PS: Thanks @nahueespinosa for the beluga's info 🚀

[nahueespinosa]

I'll take this one! I'm planning to start by adding a localization launch file to the carpincho_bringup package.

[francocipollone]

I'll take this one! I'm planning to start by adding a localization launch file to the carpincho_bringup package.

Sounds good! 🚀

[agalbachicar]

@nahueespinosa there is an effort that is about to start now that will take care of this. Have you started it already? If so, let's join forces!

[Voldivh]

I believe the issue description provide the necessary tasks needed to complete the feature. I would just like to add a couple of comments related to the scope of the effort that is starting:

• The implementation of the nav2 is related to be on top of the Andino simulation in Gazebo, taking into account the completion of #47.
• We are expecting to use the whole nav2 library in order to do localization, planning, navigation, etc. However, we would also like to assess the possibility of using Beluga in order to replace nav2_amcl. I think this should be assessed in terms of the amount of time that implementation would take. @nahueespinosa Could you provide us some insight about this topic?

[agalbachicar]

To the best of my knowledge, @francocipollone did something already with it.

[agalbachicar]

I know @olmerg did some progress on this yesterday.
CC @elector102 as you may also help here.

[olmerg]

this is the initial branch olmerg/nav2_gazebo.

Which is expected in this package?

[hidmic]

Is this complete @francocipollone ?

[francocipollone]

Superseded by #190