Navigation Stack

Usage with Docker

Clone this reposiotory

git clone https://github.com/AIResearchLab/nav_stack.git && cd nav_stack/docker

Pull the Docker image and start compose (No need to run docker compose build)

docker compose pull
docker compose up

To clean the system,

docker compose down
docker volume rm docker_navigation

Usage with without Docker

Install dependencies

sudo apt install ros-$ROS_DISTRO-navigation2 ros-$ROS_DISTRO-nav2-bringup ros-$ROS_DISTRO-slam-toolbox

Clone the package

mkdir -p navstack_ws/src
cd navstack_ws/src

git clone https://github.com/AIResearchLab/nav_stack.git
cd ..
rosdep install --from-paths src -y --ignore-src

Build the package

colcon build

Launch Nav2 with SLAM Toolbox

source install/setup.bash
ros2 launch nav_stack system.launch.py