A ROS metapackage for semantic navigation. At the moment the included packages are:
- semantic_navigation_bt: behavior tree for semantic navigation.
- semantic_navigation_msgs: messages used by the semantic navigation packages.
- semantic_navigation_rviz_plugins: Rviz2 panel plugin to easily create regions and to send the robot to them.
- semantic_navigation_tasks: used to generate random navigation goals and semantic position services.
Robot navigating from room to room with SemanticPanel in the side
Keywords: ROS2, navigation, semantic
Author: Alberto Tudela
The semantic_navigation package has been tested under ROS2 Rolling on Ubuntu 24.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.
- Robot Operating System (ROS) 2 (middleware for robotics),
- polygon_ros (Polygon visualization)
To build from source, clone the latest version from the main repository into your colcon workspace and compile the package using
cd colcon_workspace/src
git clone https://gitlab.com/grupo-avispa/ros/semantic_navigation.git
cd ../
rosdep install -i --from-path src --rosdistro jazzy -y
colcon build --symlink-install