Foklift, ROS2, and Nav2

Omniverse Isaac Sim
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Hi there,

wondering if you can give any tips or guidance on how we can use the forklift asset forklift_b_ROS.usd in the nav2 stack (I want to make them move around my scene programmatically).

In particular, how can we determine the info we need for the params YAML file? And after that, any other tips? The tutorials can only get you so far when it comes to other robot types and configurations.

Thanks

1 Like
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Are you referring to the ROS2 Navigation tutorial? This tutorial demonstrates how to integrate Omniverse Isaac Sim with the ROS2 Nav2 stack. It provides guidance on setting up the environment, including sourcing your ROS 2 installation, enabling necessary extensions, and configuring ROS2 packages like carter_navigation and isaac_ros_navigation_goal. The tutorial also covers topics such as generating an occupancy map, running Nav2, and sending navigation goals programmatically using the isaac_ros_navigation_goal package

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Thanks for the reply. I am referring to that, yes. I’ve gone through the tutorial. However, now I’m essentially trying to swap the carter robot for the forklift robot provided in the isaac assets, and looking for a little guidance on what needs to change to the workspace when doing so.

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Hey @pweids! Sorry for my late reply. Which yaml file are you referring to? Are you talking about the Navigation 2 related paramters?

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Hello @zhengwang , thanks for the follow-up. I’m talking about what I’d need to produce that would replace this file: IsaacSim-ros_workspaces/humble_ws/src/navigation/carter_navigation/params/carter_navigation_params.yaml at main · isaac-sim/IsaacSim-ros_workspaces · GitHub

I’m not new to ROS/2, but I am new to Nav2, so just a friendly request for a point in the right direction. I’m happy to read up on it. A lot of those values are pretty opaque to me, so not sure how to go about it.

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Hey @pweids! That carter_navigation_params.yaml is navigation2 parameters. Here are a few things you probably want to update as a starting point:

  1. Topic names. Please check what are the topics names for your robot, for example, the sensor (camera, lidar, odom, or imu if you use it) topic names. Then you would need to update the yaml file accordingly
  2. Frame id. Please check what are the frame ids in your robot and then update the frame ids in the yaml file accordingly
  3. Inflation radius. Usually for building local/global costmaps, the plugin inflation layer is used. The inflation radius is determined by how conservative or aggressive when planning a path through obstacles. Typically, this value is set as the radius of the robot
  4. Footprint. This is a set of point to define a polygon around your robot.

There are other parameters you can tune which would affect the performance of your robot. For more details, please refer to the configuration guide in navigation2

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