ROS 2 Autonomous Navigation Stack

SLAM · Nav2 · Multi-Robot · Frontier Exploration · Fleet Management

Nav2 + SLAM in Gazebo — single command

ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital explore:=true

_{3D lidar point cloud · camera · costmap · Gaussian Splat semantic markers — all in one RViz config (rviz/gs_overview.rviz)}

One launch → Gazebo + SLAM/Nav2 + RViz. Scale to a fleet with one arg. Humble/Jazzy params auto-selected from $ROS_DISTRO.

Deep dive → concepts.md · launch args → ros2 launch rosnav_bot <file> --show-args

---

Contents

Core

• 1. Install (incl. Docker)
• 2. Map · save · navigate
• 3. Fleet & explore

Features

• 4. Dynamic obstacles
• 5. YOLO object detection
• 6. ArUco docking
• 7. LLM voice navigation

Platforms & tuning

• 8. Platforms — drive bases, chassis skins, how to switch
• 9. Controllers, SLAM backends & benchmarking
• 10. Worlds
• 11. Update YAML (tuning)

Fleet & multi-robot

• 12. Open-RMF
• 13. Fleet CLI

Research / advanced

• 14. Gaussian Splatting capture
• 15. AI training (YOLO · Gaussian Splat keepout · RL)

Reference

• 16. Fixes

---

1. Install

# Ubuntu 22.04 / Humble — use jazzy on 24.04
sudo apt install -y \
  ros-humble-ros-gz ros-humble-ros-gz-bridge \
  ros-humble-xacro ros-humble-joint-state-publisher \
  ros-humble-nav2-bringup ros-humble-slam-toolbox \
  ros-humble-navigation2 ros-humble-teleop-twist-keyboard \
  ros-humble-laser-filters ros-humble-rviz2
# optional SLAM backends:
#   sudo apt install ros-humble-rtabmap-ros ros-humble-cartographer-ros

git clone https://github.com/darshmenon/rosnav.git ~/rosnav
cd ~/rosnav && colcon build --symlink-install
source /opt/ros/humble/setup.bash && source install/setup.bash

Docker (alternative to the install above)

xhost +local:root   # allow container GUI (Gazebo/RViz) to reach the host X server
docker compose up --build rosnav
# inside the container:
ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital explore:=true

docker-compose.yml bind-mounts src/ so host edits are picked up without a full image rebuild (just re-colcon build inside the container). See docker/orb_slam3/README.md for the separate ORB-SLAM3 visual-SLAM sidecar (§9 below has more on comparing SLAM backends).

---

2. Map · save · navigate

A — Drive with teleop (build the map)

# Terminal 1 — SLAM only (no frontier). Keep safety:=true so /cmd_vel reaches Gazebo.
ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital

# Terminal 2 — keyboard drive
ros2 run teleop_twist_keyboard teleop_twist_keyboard

Keys: i forward · , back · j/l turn · k stop · q/z speed.
Watch the map in RViz (Map on /map), or:

ros2 topic hz /scan          # ~10 Hz
ros2 topic hz /odom          # ~50 Hz
ros2 topic echo /map --once --field info    # width/height should grow
# Optional: watch / reject malformed scans (on by default in slam_nav via scan_gate:=true)
ros2 run rosnav_bot scan_quality_gate.py --ros-args -p use_sim_time:=true

Or let the robot explore alone: add explore:=true to the launch above.

Frontier exploration: with explore:=true the robot drives to the edge between mapped and unknown space (a frontier), maps what it finds, and repeats until none are left. Three worlds mapped, 30 s per frame:

ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital explore:=true controller:=rpp explorer:=frontier

Hospital	House	Simple rooms
133.1k cells · 3.4 cm	47.0k cells · 12.7 cm	98.3k cells · 3.7 cm

Ready-made maps: src/rosnav_bot/maps/map_{hospital,house,simple_rooms}.yaml (+ RTAB-Map map_cafe_rtab.yaml, 3D views) — skip exploring and navigate on them directly.

Exploration backend defaults to builtin (best result in the 2026-10-11 cafe test — see concepts.md §9 for the earlier comparison). Switch it with explorer:=:

ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital explore:=true explorer:=builtin
# explorer:=builtin (default) | explore_lite | frontier | rrt

How explorer:=builtin picks a goal, step by step: frontier exploration pipeline (frontier mask → reachability filter → clustering → safe goal placement → utility scoring).

explorer:=builtin extras (concepts.md §9 for details):

• exploration_boundary:="x1,y1,x2,y2,..." — confine frontiers to a map-frame polygon
• resume_session:=true — continue from the last visited-frontier checkpoint (<map_prefix>_session.json, written automatically every 10 goals) instead of starting fresh
• info_gain_mode:=fov (with frontier_scorer:=weighted) — sensor-cone info gain instead of the default fixed-radius ring; tune with info_gain_fov/info_gain_max_depth

B — Save the map

ros2 run nav2_map_server map_saver_cli -f src/rosnav_bot/maps/map_hospital

Writes map_hospital.yaml + map_hospital.pgm. Then Ctrl+C the SLAM launch.
(With explore:=true, maps autosave to ~/.ros/rosnav_maps/map_<world>.*; copy into src/rosnav_bot/maps/ to keep one.)

C — Navigate on the saved map

ros2 launch rosnav_bot robot.launch.py world_name:=hospital \
  map:=src/rosnav_bot/maps/map_hospital.yaml

AMCL localizes on the static map — no more SLAM. Send a goal:

RViz

1. Fixed Frame = map
2. 2D Pose Estimate — seed AMCL if particles are wide
3. 2D Goal Pose — click+drag the goal

CLI

ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose \
  "{pose: {header: {frame_id: map}, pose: {position: {x: 2.0, y: -1.0}, orientation: {w: 1.0}}}}"

ros2 run rosnav_bot fleet_manager.py goto '' 2.0 -1.0    # single robot
ros2 run rosnav_bot fleet_manager.py goto robot1 room_a  # named location

Goal accepted but no motion? Keep safety:=true (Nav2 /cmd_vel → Gazebo /cmd_vel_safe).

Multi-SLAM (slam_mode:=multi): save /map_merged with -t /map_merged or fleet_manager.py savemap.

_{Single-robot SLAM · Nav2 · frontier exploration}

---

3. Fleet & explore

ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital explore:=true
ros2 launch rosnav_bot multi_robot.launch.py robot_count:=2
ros2 launch rosnav_bot multi_robot.launch.py fleet_mgmt:=true
ros2 launch rosnav_bot multi_robot.launch.py slam_mode:=multi      # → /map_merged, drift-corrected via collab_loop_closure
ros2 launch rosnav_bot multi_robot.launch.py slam_mode:=multi collab_loop_closure:=false  # static known-pose merge only
ros2 launch rosnav_bot multi_robot.launch.py slam_mode:=multi lidar_type:=3d slam_algo:=3d rviz:=true  # RTAB-Map 3D SLAM, view cloud_map in RViz
ros2 launch rosnav_bot multi_robot.launch.py merge_scans:=true     # → /map_fused

ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital safety:=true
ros2 run rosnav_bot mission_server.py patrol robot1 1,2,0 3,4,90
ros2 run rosnav_bot coverage_planner.py

3D SLAM, collab loop closure	Coordinated exploration

_{slam_mode:=multi lidar_type:=3d slam_algo:=3d — per-robot rtabmap cloud_map + accepted collab_loop_closure correction}

---

4. Dynamic obstacles

Spawn a patrolling obstacle to test avoidance and obstacle_tracker.py against a moving object, not just static walls.

ros2 launch rosnav_bot slam_nav.launch.py world_name:=maze dynamic_obstacles:=1
ros2 launch rosnav_bot multi_robot.launch.py dynamic_obstacles:=2 dynamic_obstacle_axis:=x_axis

ros2 run rosnav_bot obstacle_tracker.py    # watch it get tracked

Details → concepts.md §26.

---

5. YOLO object detection

Needs: pip install ultralytics. Camera is enabled automatically with enable_yolo:=true.

ros2 launch rosnav_bot slam_nav.launch.py world_name:=warehouse enable_yolo:=true

# Tune
ros2 launch rosnav_bot slam_nav.launch.py world_name:=warehouse enable_yolo:=true \
  yolo_model:=yolov8n.pt yolo_confidence:=0.6 yolo_classes:=person,chair

Topics: yolo/detections · yolo/image_annotated

Stock yolov8n.pt (COCO) detects nothing in stylized sim worlds like cafe — fine-tune on collected sim frames:

ros2 launch rosnav_bot slam_nav.launch.py world_name:=cafe enable_rgbd:=true explore:=true
# auto-labeled (no manual annotation) for cafe's 5 known table poses:
ros2 run rosnav_bot yolo_collect.py --ros-args \
  -p out_dir:=$HOME/yolo_data/cafe_auto -p classes:=table -p map_frame:=odom \
  -p auto_label_config:=$(pwd)/src/rosnav_bot/config/yolo_auto_label_cafe.yaml \
  -p max_frames:=200 -p use_sim_time:=true
python3 src/rosnav_bot/scripts/yolo_train.py --data $HOME/yolo_data/cafe_auto/dataset.yaml --epochs 50

Details (why map_frame:=odom, not the default map) → concepts.md §35-A.

---

_{ArUco visual docking}

6. ArUco docking

Needs: enable_camera:=true and sudo apt install ros-humble-cv-bridge python3-opencv. Hospital world has the dock marker.

ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital enable_camera:=true rviz:=true

ros2 run rosnav_bot fleet_manager.py dock '' charging_dock
ros2 run rosnav_bot fleet_manager.py undock '' 0.5 0.05

# Visual approach only (skip Nav2 staging)
ros2 run rosnav_bot aruco_dock.py --ros-args -p dock_name:=charging_dock

Dock poses / marker IDs → config/docks.yaml. Live view: /tmp/aruco_dock_view.jpg or RViz Image on /camera/image_raw.

---

7. LLM voice navigation

Needs: ollama serve and a pulled model (ollama pull llama3.1). Start the nav stack first. station_server.py exposes dock/undock/status as ROS 2 actions so the planner can chain them.

ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital enable_camera:=true

ros2 run rosnav_bot station_server.py
ros2 run rosnav_bot llm_nav.py
# type or speak: go to room_b · stop
# multi-step: undock, go to room_b, then come back and dock

# Text only (no mic)
ros2 topic pub /llm_nav/command std_msgs/msg/String \
  "data: 'undock, go to room_b, then come back and dock'" --once

Named places → config/locations.yaml. Docks → config/docks.yaml. Replies also publish on /llm_nav/reply.

Manual station actions (no LLM):

ros2 service call /get_robot_status rosnav_bot/srv/GetRobotStatus
ros2 action send_goal /dock_to_station rosnav_bot/action/DockToStation "{station: charging_dock}"
ros2 action send_goal /undock_from_station rosnav_bot/action/UndockFromStation "{}"

---

8. Platforms — drive bases, chassis skins, how to switch

Two independent launch args:

Arg	What it changes	Values
drive_type	Physics + Gazebo plugin + Nav2 params (how it moves)	diff (default) · mecanum · ackermann
robot_model	Chassis visual only (same footprint / wheels / Nav2)	custom (default) · mir100 · husky

mir100 / husky only work with drive_type:=diff. Mixing them with mecanum/ackermann is ignored (with a warning).

Platform	Launch knobs	Motion	Notes
Diff box (default)	drive_type:=diff	Forward + turn in place	DWB (Humble, default) · MPPI (controller:=mppi) · RPP (controller:=rpp)
Mecanum	drive_type:=mecanum	Holonomic — can strafe (vy)	Nav2 unlocks max_vel_y; no pre-rotate
Ackermann (car-like)	drive_type:=ackermann	Front steer, min turning radius ~0.66 m	Always MPPI; keep safety:=true
MiR100 look	robot_model:=mir100 (+ diff)	Same as diff	Mesh skin only
Husky look	robot_model:=husky (+ diff)	Same as diff	Mesh skin only

Switch (single robot — map + navigate)

# Diff (default)
ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital drive_type:=diff explore:=true

# Holonomic
ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital drive_type:=mecanum explore:=true

# Car-like
ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital drive_type:=ackermann explore:=true safety:=true

# Same drive, different look
ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital robot_model:=mir100
ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital robot_model:=husky

# Navigate on a saved map (same args work on robot.launch.py)
ros2 launch rosnav_bot robot.launch.py world_name:=hospital \
  map:=src/rosnav_bot/maps/map_hospital.yaml drive_type:=ackermann safety:=true

Drive examples (mecanum / ackermann)

Strafe (mecanum):

ros2 topic pub -r 20 /cmd_vel_safe geometry_msgs/msg/Twist \
  "{linear: {x: 0.0, y: 0.3, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

Ackermann steer-while-driving:

ros2 topic pub -r 20 /cmd_vel_safe geometry_msgs/msg/Twist \
  "{linear: {x: 0.4, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.3}}"

Deep dive → concepts.md §18–20 (mecanum / ackermann / MiR100 / Husky).

Switch (fleet)

ros2 launch rosnav_bot multi_robot.launch.py drive_type:=mecanum
ros2 launch rosnav_bot multi_robot.launch.py drive_type:=ackermann
ros2 launch rosnav_bot multi_robot.launch.py robot_model:=mir100
ros2 launch rosnav_bot multi_robot.launch.py robot_model:=husky

---

9. Controllers, SLAM backends & benchmarking

Controllers & sensors (orthogonal)

# MPPI or RPP instead of DWB (Humble; Jazzy already defaults to MPPI). Ackermann always MPPI.
ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital controller:=mppi explore:=true
ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital controller:=rpp explore:=true

# UKF instead of EKF for the wheel-odom+IMU fusion filter (odom->base_link TF)
ros2 launch rosnav_bot slam_nav.launch.py localization_filter:=ukf explore:=true

# slam_toolbox run mode (slam_algo:=2d only): online_async (default) | online_sync | lifelong
ros2 launch rosnav_bot slam_nav.launch.py slam_toolbox_mode:=online_sync explore:=true

# 3D lidar / RTAB-Map (diff only)
ros2 launch rosnav_bot slam_nav.launch.py lidar_type:=3d
ros2 launch rosnav_bot slam_nav.launch.py lidar_type:=3d slam_algo:=3d explore:=true

# More SLAM backends (same Nav2 stack)
ros2 launch rosnav_bot slam_nav.launch.py slam_algo:=cartographer explore:=true   # needs cartographer-ros
ros2 launch rosnav_bot slam_nav.launch.py slam_algo:=vslam world_name:=cafe explore:=true
ros2 launch rosnav_bot slam_nav.launch.py slam_algo:=multisensor explore:=true    # RGB-D + lidar
ros2 launch rosnav_bot slam_nav.launch.py lidar_type:=3d slam_algo:=multisensor explore:=true

# ORB-SLAM3 (feature-based VSLAM — tracker runs in a separate Docker/bare-metal
# process, see docker/orb_slam3/README.md and concepts.md §3)
ros2 launch rosnav_bot slam_nav.launch.py slam_algo:=orbslam3 world_name:=cafe explore:=true
docker compose up orb_slam3    # separate terminal

All SLAM backends in this repo, at a glance (full comparison → concepts.md §3):

slam_algo:=	Package	Sensors	Native / sidecar
2d (default)	slam_toolbox	2D lidar	Native (apt)
cartographer	Cartographer	2D lidar + IMU	Native (apt)
3d	RTAB-Map	3D lidar + RGB	Native (apt)
vslam	RTAB-Map	RGB-D	Native (apt)
multisensor	RTAB-Map	RGB-D + lidar	Native (apt)
cslam	Swarm-SLAM	3D lidar (fleet)	Native (link_third_party.sh --cslam)
orbslam3	ORB-SLAM3	RGB-D	Tracker: Docker sidecar / bare-metal (docker/orb_slam3/); grid: native bridge node

In RViz (slam_explore.rviz): "Local Plan" shows whichever controller's selected path; enable "MPPI Candidate Trajectories" (off by default) when controller:=mppi to see the sampled velocity rollouts it's scoring; "SLAM Pose Graph" shows slam_toolbox's nodes + loop-closure constraints live; "Fused Odom (EKF/UKF)" vs "Wheel Odom (raw)" (off by default) lets you watch the localization filter correct drift, with its position-covariance ellipse on.

SLAM screenshots

RTAB-Map and slam_toolbox

slam_toolbox · hospital, live exploration

RTAB-Map views in RViz (vslam.rviz, simple_rooms)

Start, no goal yet	Goal sent (11.1 m to go)
Approaching a doorway (6.2 m left)	Later goal across the mapped room (8.9 m)

RTAB-Map RGB-D · cafe

slam_algo:=vslam world_name:=cafe — saved 2D map and exported 3D cloud:

2D map	3D cloud (RViz)	3D cloud (MeshLab)
111 m² · src/rosnav_bot/maps/map_cafe_rtab.yaml	682k coloured points	rtabmap-export --cloud

Live in RViz

Coloured cloud and Nav2 path	After more exploration (furniture and door)

RTAB-Map OctoMap layer

OctoMap voxel layer (blue voxels) live during frontier exploration of the single-room coverage_100 world (same session as the coverage screenshots in §10):

Frontier just starting	Dense scan coverage
Goal sent across the map	Final local frontier pass

3D lidar

ORB-SLAM3 live demo

All four windows at once: Gazebo (top-left), RViz's /map + costmap (bottom-left), ORB-SLAM3's Map Viewer top-down point cloud (top-right), and Current Frame tracked-feature overlay (bottom). Needs GTK-enabled OpenCV for the viewer windows — see docker/orb_slam3/params/rosnav_rgbd_ros_params.yaml.

Early in the run	Later — denser map, tracking a shelf

Closer look at the two ORB-SLAM3 viewer windows individually

Current Frame (923/1200 matched)	Map Viewer (top-down)
Keyframe pose-graph (blue = keyframes, green = covisibility edges, red = current camera)

Benchmarks

Controller / localization-filter / SLAM-mode: benchmark.py mode:=nav|accuracy|slam + mode:=report compares any of the above numerically and writes a self-contained HTML dashboard. Local chart generation is available from the reporting scripts but is intentionally kept out of this README — see concepts.md §3/§6b/§7 for the full run/compare walkthrough (controller: dwb/mppi/rpp via mode:=nav; EKF/UKF via mode:=accuracy; slam_toolbox_mode via mode:=slam).

SLAM backends (headless compare)

# Default matrix: 2d | cartographer | vslam | multisensor | 3d  (maze, 120s explore)
./src/rosnav_bot/scripts/benchmark_slam.sh
WORLD=hospital DURATION_S=90 ALGOS="2d cartographer multisensor" ./src/rosnav_bot/scripts/benchmark_slam.sh
# → /tmp/rosnav_slam_bench/<stamp>/comparison.md (+ per-algo summary.json / map.*)

Install Cartographer once if you want that row: sudo apt install ros-${ROS_DISTRO}-cartographer-ros

Headless smoke (all AMRs map + move)

# Gazebo server only — no GUI. Checks /odom /scan /map and a short drive per platform.
./src/rosnav_bot/scripts/smoke_amr_matrix.sh
# optional filters:
#   WORLD=maze BOOT_WAIT_S=50 ./src/rosnav_bot/scripts/smoke_amr_matrix.sh
#   ONLY=ackermann,diff_husky ./src/rosnav_bot/scripts/smoke_amr_matrix.sh

Stop other Gazebo/ROS sims first — parallel gz sim instances starve DDS and make later variants fail.

---

10. Worlds

Indoor	hospital house office warehouse maze corridor obstacles
Special	empty · warehouse_depot (scripts/download_depot_model.sh if needed)
Terrain-friction benchmark	multi_terrain_robot_diff — 4 zones (concrete/asphalt/gravel/low-friction tile), see §36-37 in concepts.md
Coverage sanity target	coverage_100 — single bounded 11m x 9m room, no internal walls/furniture; see coverage-plateau finding below
No map yet	outdoor multi_terrain — use explore:=true

ros2 launch rosnav_bot slam_nav.launch.py world_name:=warehouse explore:=true
ros2 launch rosnav_bot multi_robot.launch.py world:=house

Terrain-aware speed costmap (§36-37) — the robot's 2D lidar has no terrain semantics, so this slows it down via a Nav2 SpeedFilter mask instead, either baked from the world's SDF friction values or driven live from the RGB-D camera:

# Static, ground-truth mask baked from the world file's <mu> friction values:
ros2 run rosnav_bot gen_terrain_speed_mask.py \
    --world src/rosnav_bot/worlds/multi_terrain_robot_diff.world \
    --align-to src/rosnav_bot/maps/map_multi_terrain_robot_diff.yaml \
    --out src/rosnav_bot/maps/terrain_speed_multi_terrain_robot_diff.yaml
ros2 launch rosnav_bot slam_nav.launch.py world_name:=multi_terrain_robot_diff explore:=true \
    gs_speed_mask:=src/rosnav_bot/maps/terrain_speed_multi_terrain_robot_diff.yaml

# Live, camera-driven mask (heuristic depth-roughness proxy — no static file needed):
ros2 launch rosnav_bot slam_nav.launch.py world_name:=multi_terrain_robot_diff explore:=true \
    terrain_live_camera:=true

Known finding — explore_lite coverage plateau on a large open room: on coverage_100 (single bounded room, no internal walls), explore_lite reliably plateaus around 55-60% map coverage and stops making progress well before the room is fully mapped, even though a large contiguous unknown region remains inside the walls with a clear free/unknown frontier boundary around it. Screenshots below are from the final stages of exploration, with the robot near one local frontier cluster instead of the large remaining region:

ros2 launch rosnav_bot slam_nav.launch.py world_name:=coverage_100 explore:=true

Initial — just the first scan sweep	Full room — large gray region still unknown	Close-up — final stage of exploration

explorer:=builtin (frontier_coordinator.py/frontier_explorer.py) does no better on this world — it stops even earlier (~10% coverage), logging every candidate frontier as unreachable/failed. Not yet root-caused; tracked as an open issue rather than tuned around.

---

11. Update YAML (tuning)

All configs live under src/rosnav_bot/config/. With --symlink-install, edit then relaunch (no rebuild).

Want to change…	Edit
Named places (room_a, goto)	locations.yaml
ArUco dock ID / staging / stand-off	docks.yaml
Nav2 speeds, footprint, costmaps (diff, Humble)	nav2_params.yaml
Same on Jazzy	nav2_params_jazzy.yaml
MPPI / mecanum / ackermann	nav2_params_mppi.yaml · nav2_params_mecanum.yaml · nav2_params_ackermann.yaml
Multi-robot Nav2	nav2_multirobot_params.yaml (+ _jazzy)
SLAM Toolbox	mapper_params_online_async.yaml · mapper_params_per_robot.yaml
RMF lanes / fleet policy	rmf_fleet.yaml
Keep-out zones	no_go_zones.yaml

# locations.yaml — then: ros2 run rosnav_bot fleet_manager.py goto '' kitchen
#   kitchen: {x: 3.0, y: -1.5, yaw: 0.0}

# nav2_params.yaml — raise speed:
#   controller_server → FollowPath → max_vel_x: 0.5

source install/setup.bash
ros2 launch rosnav_bot slam_nav.launch.py world_name:=hospital explore:=true

Maps: src/rosnav_bot/maps/map_<world>.yaml (+ .pgm) · use map:=... on launch.
More → concepts.md.

---

12. Open-RMF

ros2 launch rosnav_bot multi_robot.launch.py explore:=false robot_count:=2
ros2 launch rosnav_bot rmf_fleet.launch.py robot_count:=2 docking:=noop
ros2 run rosnav_bot rmf_submit_task.py patrol room_a room_b --rounds 2

Details → concepts.md §11b.

---

13. Fleet CLI

ros2 run rosnav_bot fleet_manager.py list|status|health
ros2 run rosnav_bot fleet_manager.py goto robot1 room_a
ros2 run rosnav_bot fleet_manager.py teleop robot1
ros2 run rosnav_bot fleet_manager.py savemap src/rosnav_bot/maps/map_hospital
ros2 run rosnav_bot fleet_manager.py mission robot1 patrol room_a room_b
ros2 run rosnav_bot fleet_manager.py tasks add 2.0 1.5 0 pickup_A
ros2 run rosnav_bot fleet_gui.py
ros2 run rosnav_bot multi_teleop.py

---

14. Gaussian Splatting capture

Feasibility spike: capture a photo set + exact Gazebo-ground-truth poses for 3D Gaussian Splatting — no robot, no COLMAP.

Reconstruction fly-through	Fully trained splat, training view

_{cafe.world, fully trained splat — 384 captured frames, 30k splatfacto iterations}

A — Capture

# Gazebo (headless) + the teleportable capture rig, no robot/nav stack
ros2 launch rosnav_bot gs_capture.launch.py world_name:=cafe

# Sweep the waypoint grid, write nerfstudio-format data
ros2 run rosnav_bot gs_capture.py --ros-args \
  -p world_name:=cafe -p out_dir:=/home/asimov/gs_data/cafe

B — Train + view (separate nerfstudio venv)

source ~/venvs/nerfstudio/bin/activate
ns-train splatfacto --data /home/asimov/gs_data/cafe --pipeline.model.random-init True nerfstudio-data
ns-viewer --load-config outputs/.../splatfacto/<timestamp>/config.yml   # → http://localhost:7007

Ground truth (Gazebo)	Trained splat — RGB	Trained splat — depth

_{cafe.world capture, viewed live in the nerfstudio browser viewer — depth confirms geometry, not just color, is coherent}

C — Or view in RViz instead (Gaussian centers as a colored point cloud)

# Still in the nerfstudio venv
ns-export gaussian-splat --load-config outputs/.../splatfacto/<timestamp>/config.yml --output-dir splat_export/
# --dataparser-transform is required — without it xyz stays in nerfstudio's
# training-normalized space (~4.5x too small vs. true Gazebo-world meters on
# a real capture), not the file ns-export itself writes; see concepts.md §29b.
python3 src/rosnav_bot/scripts/gs_splat_to_pointcloud.py splat_export/splat.ply splat_points.npz \
    --dataparser-transform outputs/.../splatfacto/<timestamp>/dataparser_transforms.json
deactivate

# Back in the ROS 2 environment
ros2 run rosnav_bot gs_view_pointcloud.py --ros-args -p npz_path:=$(pwd)/splat_points.npz
rviz2 -d src/rosnav_bot/rviz/gs_capture.rviz

# Or the fuller overview config (splat + keepout/speed costmap + semantic
# markers + robot model in one view — see §27-29 in concepts.md):
rviz2 -d src/rosnav_bot/rviz/gs_overview.rviz

GS splat point cloud (gs_overview.rviz)	World-scaled, alongside robot + 3D lidar (§29b fix)

Navigation plan: already wired for a static costmap layer — see §28 (KeepoutFilter) and §30 (SpeedFilter), both driven by gs_mask_from_splat.py/gs_speed_mask_from_splat.py rasterizing the same Gaussian point cloud into a Nav2 costmap filter mask.

Details → concepts.md §27.

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15. AI training (YOLO · Gaussian Splat keepout · RL)

Three research pipelines that plug into the existing stack. Core SLAM/Nav2 stay classical.

A — YOLO fine-tune

# Collect frames (camera up)
ros2 launch rosnav_bot slam_nav.launch.py world_name:=cafe enable_camera:=true
ros2 run rosnav_bot yolo_collect.py --ros-args -p out_dir:=$HOME/yolo_data/cafe -p max_frames:=200
# annotate labels/*.txt (YOLO format), then:
python3 src/rosnav_bot/scripts/yolo_train.py --data $HOME/yolo_data/cafe/dataset.yaml --epochs 50

# smoke (no Gazebo)
python3 src/rosnav_bot/scripts/yolo_train.py --smoke

# deploy
ros2 launch rosnav_bot slam_nav.launch.py enable_yolo:=true \
  yolo_model:=runs/detect/rosnav_yolo/weights/best.pt

B — Gaussian Splat → Nav2 keepout

# full capture → ns-train → mask (needs nerfstudio venv)
bash src/rosnav_bot/scripts/gs_train_keepout.sh cafe

# or mask-only from an existing points.npz
MASK_ONLY=1 NPZ=$HOME/gs_data/cafe_points_final.npz \
  bash src/rosnav_bot/scripts/gs_train_keepout.sh cafe

ros2 launch rosnav_bot slam_nav.launch.py world_name:=cafe \
  gs_keepout_mask:=src/rosnav_bot/maps/gs_keepout_cafe.yaml

C — RL local planner (PPO)

Trains offline on a map PGM (no Gazebo). Deploys as a research /cmd_vel source.

pip install stable-baselines3 gymnasium   # optional; default trainer is pure torch
python3 src/rosnav_bot/scripts/train_ppo.py --smoke
python3 src/rosnav_bot/scripts/train_ppo.py \
  --map src/rosnav_bot/maps/map_maze.yaml --timesteps 200000 --out runs/rl/ppo_maze

# with robot up (disable Nav2 controller or remap cmd_vel when testing)
ros2 run rosnav_bot rl_policy_node.py --ros-args \
  -p model_path:=runs/rl/ppo_maze/ppo_scan_nav.pt -p goal_x:=2.0 -p goal_y:=1.0

train_ppo.py defaults to a pure-PyTorch PPO (--backend torch). --backend sb3 needs a working stable-baselines3 build.

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16. Fixes

Problem	Try
Plugin FATAL	Source the right $ROS_DISTRO
No motion	ros2 topic hz /cmd_vel · keep safety:=true
Map not saved	explore:=true · multi-SLAM: -t /map_merged
TF / no frontiers	Kill stale gz / ros2 processes · cold-start deadlock and 3D-lidar leaked/unreachable frontiers are fixed (goal_pullback relaxes on a tiny known-free region; suspicious oversized clusters behind thin walls are penalized) — see frontier_coordinator.py / frontier_explorer.py
Robot stops, Transform data too old floods, map stuck	Run ≤3 sims at once · stop a sim with Ctrl+C, not kill -9 · clear leftovers: src/rosnav_bot/scripts/clean_fastdds_shm.sh --delete (dry run without the flag) · still floods? try RMW_IMPLEMENTATION=rmw_cyclonedds_cpp (0 errors in one hospital run, still being tested)
Invisible robots	colcon build --symlink-install && source install/setup.bash
YAML change ignored	Symlink install + relaunch; edit the correct Humble/Jazzy / drive-type file
Dock sees nothing	Set enable_camera:=true
YOLO missing	pip install ultralytics
LLM fails	ollama serve + ollama pull llama3.1 · start station_server.py for dock/undock

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Fleet mgmt  →  Nav2 + SLAM/AMCL  →  Gazebo Harmonic + ros-gz bridge

Made by @darshmenon · Blog · concepts.md