Nexviora.
PROJECT · SIMULATION

A mapping and navigation mission

Save a map, localize and supervise a goal in a documented simulator.

The outcome

Save a map, localize and supervise a goal in a documented simulator.

Scan + odometrySLAM mapLocalizationNavigation action
An original overview of the information or commissioning sequence.
Verification boundary

Documented target: Ubuntu 24.04 · ROS 2 Jazzy · Gazebo Harmonic where used. Browser labs tested; ROS/Ubuntu/hardware execution not performed here.

Before you begin

  • Ubuntu 24.04 + Jazzy + Harmonic
  • Official Nav2 simulator quickstart
  • A graphics environment

Prepare with Make a map and check its limits, Plan a route and supervise a mission.

Build, observe, explain.

1

Establish the baseline

Follow the linked Nav2 Jazzy quickstart and check frames/scan.

Expected: Working observations and consistent simulation time.

2

Map and save

Use the SLAM lesson and overlapping slow passes.

mapping-navigation-mission-2.txt
ros2 run nav2_map_server map_saver_cli -f ~/nexviora_maps/mission

Expected: Image and YAML inspected for scale and origin.

3

Switch to localization

Stop mapping before localization, load the map and set initial pose; submit a reachable goal through the documented quickstart workflow.

Expected: Action feedback and result report actual success or failure.

Troubleshooting

Two map→odom publishers
Do not run competing mapping/localization sources.
Path crosses unknown cells
Review unknown-space and costmap policy.

Take it further

  • Introduce a temporary obstacle.
  • Record cancellation/recovery.

Documentation and next steps

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