autonomy_ros

A ROS 2 autonomous navigation workspace focused on two production features: single-goal navigation and multi-waypoint navigation.

It combines the autonomy navigation core, the autonomy_ros ROS integration layer

• autonomy_msgs API package
• autonomy_simulator
• simulation assets (based on nav2_minimal_tb3_sim).

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✨ Features

• 🎯 Single-goal navigation via /navigate_pose action and RViz goal_pose.
• 🧭 Multi-waypoint navigation via /navigate_through action with waypoint sequencing.
• 🛠️ Task control APIs for cancel, pause/resume, emergency stop, and status query.
• 🧪 Simulation-ready workflow with Gazebo and fake-robot modes in one launch entry.

🎥 Demo

• Demo GIF: autonomy-sim.gif

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📦 Dependencies and build

sudo apt update
sudo apt install -y \
  ros-${ROS_DISTRO}-ros-gz-sim \
  ros-${ROS_DISTRO}-ros-gz-bridge \
  ros-${ROS_DISTRO}-ros-gz-interfaces \
  ros-${ROS_DISTRO}-robot-state-publisher \
  ros-${ROS_DISTRO}-rviz2 \
  ros-${ROS_DISTRO}-xacro

cd /path/to/your_ws
colcon build --symlink-install --packages-up-to autonomy autonomy_simulator autonomy_ros
source install/setup.bash

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🚀 Launch

Use navigation_stack.launch.py for the navigation stack, and control behavior with launch arguments.

ros2 launch autonomy_ros navigation_stack.launch.py

🧩 Common scenarios

1. Full stack with RViz

ros2 launch autonomy_ros navigation_stack.launch.py use_rviz:=true

2. Fake robot + navigation stack

ros2 launch autonomy_ros navigation_stack.launch.py \
  simulation_mode:=fake use_sim_time:=false

For fake mode, set autonomy.enable_scan_bridge=false in config/parameters.yaml and keep autonomy.planner.global_frame=odom.

3. Simulation only (no navigation stack)

ros2 launch autonomy_simulator tb3_simulator.launch.py
ros2 launch autonomy_simulator fake_robot.launch.py

⚙️ Launch arguments

Argument	Default	Description
simulation_mode	gazebo	gazebo or fake
use_sim_time	true	Use simulation clock
use_rviz	false	Start RViz
core_config_directory	auto-resolved	Directory containing autonomy.lua

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🔌 Public API

🎬 Actions

Name	Description
/navigate_pose	Single-goal navigation
/navigate_through	Sequential multi-waypoint navigation

🧰 Services

Name	Description
/cancel_task	Cancel a task
/get_task_status	Query task status
/pause_task / /resume_task	Pause / resume
/trigger_estop	Emergency stop
/set_initial_pose	Set initial pose (localization)

📡 Status topics

Name	Type
/status	autonomy_msgs/msg/TaskStatus
/events	autonomy_msgs/msg/Event

💻 CLI examples

ros2 run autonomy_ros navigation_client.py list-tasks
ros2 run autonomy_ros navigation_client.py run-task go_to_point_a --feedback
ros2 run autonomy_ros navigation_client.py navigate-pose --x 1.0 --y 0.5 --feedback

🖼️ RViz

• 2D Goal Pose → goal_pose: triggers single-goal navigation (may preempt the current action)
• 2D Pose Estimate → initialpose: forwarded by NavigationService for relocalization

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🙏 Acknowledgements

• Simulation: nav2_minimal_turtlebot_simulation (Apache-2.0)
• API inspiration: nav2_msgs