Install

Preparing things (Native)

1. Install ROS Humble on Ubuntu 22.04.

2. This installation assumes that the ROS is already installed along with the Nav2. Otherwise, please install them before continuing to the next steps.

3. Clone the git repository:

   git clone https://github.com/sphanit/CoHAN-Nav2 -b main ~
   cd ~/CoHAN-Nav2
   

4. Install the dependencies using rosdep and pull the submodules:

   ./install-deps.sh
   

5. Build the package. Everything will be taken care of by the script. Just run compile.sh script:

   ./compile.sh
   

6. Once it is built, you need to source setup.bash file to use these packages along with other ROS packages inside the system. Then you can run the example launch:

   source install/setup.bash && roslaunch cohan_sim_navigation cohan_sim_pr2.launch
   

   If everything is installed correctly, you should see rviz opening and you can move the robot by giving it a goal (using 2D Nav Goal tool).

Using Docker

1. Clone the git repository:

   git clone https://github.com/sphanit/CoHAN-Nav2 -b main ~
   cd ~/CoHAN-Nav2
   

2. Navigate to docker directory in the folder and build the image. For example:

   cd ~/CoHAN-Nav2/docker/humble
   ./build-docker.sh
   

3. Activate the image and do the steps for building. For example:

   source ~/CoHAN-Nav2/docker/humble/run-docker.sh
   

4. Inside the docker, install deps and build:

   ./install-deps.sh && ./compile.sh
   

5. You can then source and run as previously:

   source install/setup.bash && roslaunch cohan_sim_navigation cohan_sim_pr2.launch