ROS2 Nav2 [Navigation 2 Stack] - with SLAM and Navigation

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Edouard Renard

6:01:21

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1. Introduction

1. Welcome to the ROS2 Nav2 Course!.mp4

02:32

2. What Is the Navigation (2) Stack, and Why Do We Need It.mp4

03:00

3. How to get the most out of this course.mp4

01:28

2. Setup and Installation for ROS2 and Nav2

1. Intro.mp4

02:29

2. [Recap] Install and Setup ROS2 on Ubuntu 22.04.mp4

06:41

3. Install the Navigation 2 Stack.mp4

02:34

4. Install the Tools Well Need For the Course.mp4

05:09

3. Generate a Map with SLAM (Simultaneous Localization and Mapping)

1.1 SLAM Steps (ROS2 Nav2 Course - Section 3).pdf

1. Intro.mp4

02:39

2. Make the Robot Move in the World.mp4

09:18

3. Generate and Save a Map with SLAM in ROS2.mp4

11:25

4. Whats Inside the Generated Map.mp4

07:08

5. SLAM Activity - Create a New Map in Turtlebot3 House.mp4

03:36

6.1 slam activity map solution.zip

6. SLAM Activity - Solution.mp4

04:40

4. Make a Robot Navigate with Nav2

1.1 Navigation Steps (ROS2 Nav2 Course - Section 4).pdf

1. Intro.mp4

01:26

2. A Quick Fix We Need To Do Before Starting.mp4

06:14

3. Make the Robot Navigate Using the Generated Map.mp4

12:56

4. Waypoint Follower - Go Through Multiple Nav2 Goals.mp4

04:29

5. Dynamic Obstacle Avoidance.mp4

08:08

6. Navigation Activity - Navigation with turtlebot3 house.mp4

03:14

7. Navigation Activity - Solution.mp4

07:33

5. Understand the Nav2 Stack

1. Intro.mp4

00:55

2. Global Planner, Local Planner and Costmaps.mp4

09:21

3. Parameters.mp4

08:29

4. Recovery Behavior.mp4

05:54

5. TFs and Important Frames.mp4

12:07

6. The Nav2 Architecture - Explained Step by Step.mp4

04:20

6. Build Your Own World for Navigation in Gazebo

1. Intro.mp4

01:06

2. Build and Save a World in the Gazebo Building Editor.mp4

04:45

3.1 floorplan example.zip

3. Import a Floor Plan.mp4

07:00

4. Add Objects To the World.mp4

05:32

5. Make Turtlebot3 Navigate In That World (Step 1).mp4

08:45

6.1 turtlebot3 gazebo.zip

6. Make Turtlebot3 Navigate In That World (Step 2).mp4

09:46

7. Make Turtlebot3 Navigate In That World (Step 3).mp4

09:41

8. Tips How To Fix and Improve Maps with Gimp.mp4

09:39

9.1 5 by 5 maze.zip

9. Custom World Activity - Make a Robot Navigate into a Generated Maze.mp4

04:14

10. Custom World Activity - Solution (Step 1).mp4

05:57

11. Custom World Activity - Solution (Step 2).mp4

05:46

12.1 custom world activity solution.zip

12. Custom World Activity - Solution (Step 3).mp4

09:55

7. Intro to Adapting a Custom Robot for Nav2 (Steps Overview)

1. Intro.mp4

03:53

2.1 my robot.zip

2. TFURDF.mp4

15:24

3. InputOutput - Odometry, Sensors and Controller.mp4

11:49

4.1 SLAM and Navigation Steps for Any Robot (ROS2 Nav2 Course - Section 7).pdf

4. Run Navigation With Your Custom Robot.mp4

16:13

5. Launch File + Parameters.mp4

09:33

8. Interact Programmatically With the Navigation Stack

1. Intro.mp4

02:07

2. Discover what Topics and Actions are Used.mp4

05:10

3. Simple Commander API - Install and Set the Initial Pose.mp4

17:01

4. Simple Commander API - Send a Nav2 Goal.mp4

15:52

5.1 simple commander api template.zip

5. Simple Commander API - Waypoint Follower + Downloadable Template.mp4

14:47

6. Simple Commander API Activity - Create a Robot Patrol.mp4

01:20

7.1 simple commander api activity solution.zip

7. Simple Commander API Activity - Solution.mp4

15:11

9. Conclusion

1. What to do next.mp4

03:10

2. Bonus Lecture.html

Description

Finally Understand the Nav2 Stack with ROS2 - SLAM, Mapping, Navigation, Gazebo Simulation, Python Code - Step by Step

What You'll Learn?

Discover the Navigation 2 stack with hands-on experiments
Create a map with SLAM in ROS2
Make a robot navigate while avoiding obstacles
Work with Navigation using a Gazebo simulation
Understand the Nav2 architecture
Tune the Navigation parameters
Experiment with the global planner, local planner, and recovery behavior
Create your own custom world in Gazebo building editor
Get the steps to adapt a custom ROS2 robot for the Navigation 2 stack
Control Nav2 with Python using the Simple Commander API
Get to know what TFs are important for the navigation
Understand the map and odom frames
Use the slam_toolbox package for mapping and SLAM
Practice more with additional activities and challenges

Who is this for?

ROS developers who want to learn how to use the Navigation 2 stack

Engineers/Teachers/Researchers/Anyone interested in programming mobile robots with Robot Operating System 2

Anyone wanting to learn how to perform SLAM and Navigation using a simplified approach

Anyone lost in the ROS2 Navigation docs

More details

Description
You have learned ROS 2 basics and want to start with SLAM and the Navigation 2 stack?
Or you have already started but you feel completely lost?
In this course you will finally understand what the Navigation 2 stack is, step by step. And you will be able to apply this knowledge to your own ROS2 robotics projects.
And to get started, no need to buy any hardware! You will be able to complete the course with a Gazebo simulation.

-- Why this course?

I realized that (while doing it myself) learning the Navigation stack is really not easy. If you thought that learning ROS2 was hard, then wait until you start with Nav2!
There are not so many resources online, and just getting started with the existing documentation can be a nightmare - unless youâ€™re already a ROS expert. For many parts, in order to understand, you need so many prerequisites in ROS2 that it can become overwhelming.
Because of this, understanding Navigation2 would take you weeks of painful learning and frustration. Thatâ€™s actually exactly what happened to me. And I donâ€™t wish that to you.
Thatâ€™s why I created this course: so you can SAVE COUNTLESS HOURS and learn the Navigation 2 stack with minimum knowledge of ROS2, in the easiest possible way.
Instead of dropping you in a sea of documentation I will guide you to make you experiment first, and then progress in a smooth way towards a practical understanding.
To be clear, this course is not for complete ROS2 beginners, you need to have some ROS2 basics. But then, once you have the basics, you will be able to easily follow the course and learn Nav2 efficiently.
My goal is to make Navigation accessible to anyone with a basic to intermediate level of ROS2.

-- How do I teach?

If youâ€™ve taken other ROS 2 courses from me you know that Iâ€™m not here to waste your time.
My teaching method is quite simple:
Step by step
Going to the point
Learn while doing
Also I strongly focus on the â€œwhyâ€ behind what you learn. The goal is not just to make you blindly repeat some steps, but to understand why those steps matter.

And donâ€™t take my word for it - here are some reviews from fellow students/researchers/engineers/teachers who took my ROS 2 course on Udemy:
â€œBest course on ROS2 Iâ€™ve taken! Other courses (different sites/platforms) made it confusing but *this course makes it so clear and easy to understand while letting you try on your own**. I am definitely learning a lot in a painless and simple way. I should have gotten this course from the beginning.â€* - Miguel Martinez G.
â€œOverall very satisfied. Iâ€™ve a strong background in programming, but at a higher level (web mostly) and the elegant, fluent and clean approach of this course has leveraged my introduction to the ROS environment in a *short amount of time, without the struggle of going through a lot of documentation**â€* - Devis D.
â€œThis is the best course in ROS2 Iâ€™ve ever seenâ€ - Aleksandar K.
â€œGreat course content, straight to the point and very easy to followâ€ - Kevin M.

-- What will you do and learn in the course?

You will follow a progression line that allows you to experiment first, so you get an intuitive approach to Navigation. And only then we reinforce the learning with some explanations and a bit of theory, followed by more practice.
In the course you will:
Install ROS2 and the Navigation 2 stack.
Generate and save a map with SLAM (Simultaneous Localization and Mapping).
Make a robot navigate using this map.
Understand how Navigation 2 works and what are the different components of the stack: global planner, local planner, recovery behavior, TFs, etc.
Build a custom Gazebo world to be able to create a simulation of your own environment.
Discover the steps to adapt your own robot for the Navigation 2 stack.
Interact with Nav2 using the Python Simple Commander API.
Each section is built on top of the previous ones, and you will reinforce what youâ€™ve learned with extra challenges to practice more.

So, to learn the Navigation stack and save countless hours, donâ€™t wait anymore and enroll in the course today!

Oh and you donâ€™t take any risk here, because you also get a 30-day money back guarantee if youâ€™re not fully satisfied - no questions asked.
See you in the course!

Note - this course is not for you if:
You are a complete ROS 2 beginner. In this case, you need to learn ROS 2 Basics first
You want to learn the Navigation 1 Stack for ROS1 (not exactly the same thing)
Who this course is for:
ROS developers who want to learn how to use the Navigation 2 stack
Engineers/Teachers/Researchers/Anyone interested in programming mobile robots with Robot Operating System 2
Anyone wanting to learn how to perform SLAM and Navigation using a simplified approach
Anyone lost in the ROS2 Navigation docs

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Robotics

Edouard Renard

Instructor's Courses

Edouard Renard is a software engineer, entrepreneur, and robotics teacher. He really enjoys teaching new technologies to people and making complex stuff easy to understand. His method is simple and consists of only three words: step by step. Edouard knows how hard it can be to learn a new topic and just be lost in an ocean of information without knowing what to do. In his courses, he makes sure that you learn one step at a time, through practice, and that you also learn the best practices. He is passionate about robotics and found that it’s amazing how many cool projects you can do with a robot when you have the required programming knowledge.

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