ROS2 / Nav2 Demos#

Source guide:

1. Activate environment#

source ~/omninav_ros_env/bin/activate
source /opt/ros/humble/setup.bash

2. Build ROS2 package#

cd /home/vice/code/ros/OmniNav
~/omninav_ros_env/bin/python -m colcon build --symlink-install --packages-select omninav_ros2_examples
source install/setup.bash

3. Demo A: RViz sensor visualization#

ros2 launch omninav_ros2_examples rviz_sensor_demo.launch.py

Code:

4. Demo B: Nav2 closed loop#

ros2 launch omninav_ros2_examples nav2_full_stack.launch.py

Code:

5. Optional map export#

OMNINAV_EXPORT_NAV2_MAP=1 ros2 run omninav_ros2_examples nav2_bridge_demo --test-mode --no-show-viewer

6. Troubleshooting (high frequency issues)#

map frame timeout in Nav2#

If planner logs include:

  • Timed out waiting for transform from base_link to map

check in order:

  1. 2D Pose Estimate is published in RViz after startup.

  2. source install/setup.bash is executed in the same shell.

  3. TF tree contains map -> odom -> base_link.

RViz queue full / sensor message drops#

If RViz logs include:

  • Message Filter dropping message ... queue is full

actions:

  1. Lower ROS2 publish rate in demo config (scan_every_n_steps, rgb_every_n_steps, depth_every_n_steps).

  2. Keep simulator FPS stable first, then increase sensor rates gradually.

  3. Reduce camera resolution or disable non-critical streams in the active profile.