Complete Gazebo simulations integrated with EasyNav: a robot, its worlds, their maps and ready-to-run EasyNav configurations. They are the reference configurations of EasyNav, and a good starting point for your own robot's parameters.
Each playground is split in three packages, so that the robot model and the simulation can be used without EasyNav:
| Package | Contents | Depends on |
|---|---|---|
easynav_playground_<robot>_description |
The robot model: URDF, meshes and controllers | Neither Gazebo nor EasyNav |
easynav_playground_<robot>_worlds |
The Gazebo simulation: worlds, their maps, and the launchers that spawn the robot with its controllers and the ROS–Gazebo bridge | Gazebo, not EasyNav |
easynav_playground_<robot> |
The EasyNav configurations and launchers | EasyNav |
| Directory | Robot and worlds | EasyNav configurations |
|---|---|---|
playground_kobuki |
Kobuki (Turtlebot 2) in a small house (indoor reference) | Costmap (RPP, MPPI, MPC, SeReST, MH-AMCL, routes, safety mode), Simple, mapping, multirobot |
playground_summit |
Robotnik Summit XL in an outdoor excavation and an indoor warehouse (outdoor reference) | NavMap and Bonxai (RPP, MPPI, MPC), GPS fusion, warehouse logistics |
playground_tiago |
PAL Robotics' TIAGo in a small house | Costmap with RPP; NavMap and Bonxai with the laser and the RGBD camera |
playground_omni |
Three- to six-wheel omnidirectional robots in two mazes | Costmap with RPP, MPPI and MPC as a holonomic robot |
playground_ackermann |
Toyota Prius (Ackermann steering) on the Sonoma Raceway | NavMap of the track with GPS fusion (RPP, MPC) |
playground_aerial |
A flying saucer (UFO) in a town | Bonxai with a 3D planner and MPC |
For example, with the Kobuki:
ros2 launch easynav_playground_kobuki easynav_costmap_rpp.launch.yaml # Gazebo, the Kobuki, EasyNav and RViz2
ros2 launch easynav_playground_kobuki_worlds gazebo_sim.launch.yaml # Only Gazebo and the KobukiThe playgrounds need Gazebo Harmonic or newer, so they run on Jazzy and later distributions, but not on Humble, whose Gazebo is Fortress. EasyNav itself (core and plugins) does run on Humble: only these simulations do not.
From the ROS 2 workspace root:
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --packages-up-to easynav_playground_kobuki # or any other playground
source install/setup.bashEach package declares its licenses in its package.xml and explains them in its README. The EasyNav configurations and launchers are by the Intelligent Robotics Lab (Universidad Rey Juan Carlos), under Apache-2.0. The robot models and the worlds come from third parties under their own licenses: Yujin Robot's Kobuki (BSD-3-Clause), Robotnik's Summit XL (BSD-3-Clause), PAL Robotics' TIAGo and TIAGo Pro (Apache-2.0), RealSense's camera frames (Apache-2.0), Yohan Prakoso's omnidirectional robots (MIT), AWS RoboMaker's small house and small warehouse (MIT-0), the URJC excavation (GPL-3.0), Juan Sebastián Cely Gutierrez's Prius and Sonoma Raceway world (GPL-3.0-only) and town world (Apache-2.0), and Open Robotics' Prius meshes, Sonoma Raceway and town buildings (CC0-1.0) and Nathan Benderson Park (CC-BY-4.0). The UFO is by the Intelligent Robotics Lab (Apache-2.0).