🚀 Launch Instructions – warehouse_simulation-main

This guide explains how to bring up the complete warehouse simulation and navigation stack from the warehouse_simulation-main project.

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📦 Prerequisites

• ROS 2 Humble installed
• ros2_ws workspace created and built
• The warehouse_simulation-main directory placed in ~/ros2_ws/src/
• Workspace built with colcon build and sourced

cd ~/ros2_ws
colcon build
source install/setup.bash

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🧱 Package Overview

Package	Description
custom_world_pkg	Contains the warehouse Gazebo world and models
path_planner_pkg	Launches the Nav2 stack and sends goals

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🔧 Step-by-Step Launch

1. 🏭 Launch Gazebo Simulation

ros2 launch custom_world_pkg launch_simulation.launch.py

• Loads the TurtleBot4 into the custom warehouse Gazebo world
• Gazebo GUI will open

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2. 🗺️ Launch Navigation Stack

Open a new terminal, and run:

source ~/ros2_ws/install/setup.bash
ros2 launch path_planner_pkg nav2.launch.py

This launches: - Map server - AMCL (localization) - Behavior tree navigator - Planner & controller servers

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3. 🎯 Send Goal from Custom Node

Still in a separate terminal:

source ~/ros2_ws/install/setup.bash
ros2 run path_planner mission_executor

This node: - Sends a goal to /navigate_to_pose - Uses the Nav2 BT Navigator to handle path planning & control

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🎛 Visualize in RViz2

Optionally, launch rviz2:

rviz2

Configure to display: - /map - /odom - /path - /tf - /amcl_pose - /goal_pose

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🧠 Final Flow Summary

Gazebo ⟶ TF, scan, joint_states
 ↳ Nav2 Stack ⟶ planner, controller, AMCL
 ↳ mission_executor.py ⟶ sends custom goal
 ↳ RViz2 ⟶ real-time feedback and map visualization

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✅ Output

Once launched: - Robot will localize and navigate - Paths will be visible in RViz2 - Simulation runs in Gazebo using your custom world