ROS 2 Autonomous Navigation Stack for ROSbot

A complete autonomous navigation system built using ROS 2 Jazzy, Nav2, SLAM Toolbox, Gazebo, and Behavior Trees.

This project demonstrates:

• Robot modeling and visualization
• Gazebo simulation
• 2D SLAM mapping
• Autonomous navigation with Nav2
• Goal-based navigation
• Custom Nav2 applications
• Behavior Tree based task execution
• Groot2 integration for BT visualization

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Prerequisites

sudo apt install ros-jazzy-navigation2 ros-jazzy-nav2-bringup ros-jazzy-slam-toolbox

Packages

Package	Description
rosbot_description	ROSbot URDF, RViz visualization, and Gazebo simulation
rosbot_nav2_bringup	Nav2 and SLAM Toolbox configuration
nav2_client	Custom C++ Nav2 action client
nav2_bt_client	Behavior Tree based navigation application

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Build

source /opt/ros/jazzy/setup.bash

colcon build --symlink-install

source install/setup.bash

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1. Robot Model Visualization

Launch the ROSbot model in RViz.

source install/setup.bash

ros2 launch rosbot_description display.launch.py

Result

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2. Gazebo Simulation

Launch the robot inside the Gazebo simulation environment.

source install/setup.bash

ros2 launch rosbot_description gazebo.launch.py

• Simulation world loads
• ROSbot spawns in Gazebo
• Sensors and robot controllers become active

Result

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3. SLAM Mapping

Generate a 2D occupancy grid map using SLAM Toolbox.

Terminal 1

ros2 launch rosbot_description gazebo.launch.py

Terminal 2

ros2 launch rosbot_nav2_bringup slam_online_async.launch.py

Drive the robot around the environment to build the map.

Save Map

ros2 run nav2_map_server map_saver_cli -f ~/map

Result

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4. Goal-Based Navigation

Perform autonomous navigation using Nav2.

Terminal 1

ros2 launch rosbot_description gazebo.launch.py

Terminal 2

ros2 launch rosbot_nav2_bringup nav2.launch.py

Steps

1. Set the robot's initial pose using 2D Pose Estimate
2. Select Nav2 Goal
3. Send a navigation target

Result

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5. NavigateToPose Action Client

Run a custom C++ Nav2 action client.

Terminal 1

ros2 launch rosbot_description gazebo.launch.py

Terminal 2

ros2 launch rosbot_nav2_bringup nav2.launch.py

Terminal 3

ros2 run nav2_client navigation_client

The application communicates with Nav2 using the NavigateToPose action interface.

Result

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Navigation Scenario

The robot must autonomously visit multiple locations inside a hospital environment.

Mission Flow

1. Start position
2. Navigate to Medicine Shop
3. Collect medicine
4. Navigate to Room 1
5. Deliver medicine
6. Return to initial position

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6. Behavior Tree Task Execution

Execute navigation tasks using a Behavior Tree based workflow.

Terminal 1

ros2 launch rosbot_description gazebo.launch.py

Terminal 2

ros2 launch rosbot_nav2_bringup nav2.launch.py

Set the robot's initial pose using 2D Pose Estimate.

Terminal 3

ros2 launch nav2_bt_client start_bt_app.launch.py

This launches:

• Nav2 BT Action Client
• Groot2
• Behavior Tree execution engine
• Real-time navigation monitoring
• Robot navigation inside the environment

Result

Demo Video

bt_navigation.mp4

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Technologies Used

• ROS 2 Jazzy
• Navigation2 (Nav2)
• SLAM Toolbox
• Gazebo Sim
• RViz2
• BehaviorTree.CPP
• Groot2
• C++
• URDF

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Repository Structure

.
├── docs
│   ├── images
│   └── videos
├── src
│   ├── rosbot_description
│   ├── rosbot_nav2_bringup
│   ├── nav2_client
│   └── nav2_bt_client
├── README.md
└── .gitignore