Hello,
I am working on integrating Nav2, specifically SLAM and navigation functionalities, with my B2-W robot in Gazebo. I have successfully incorporated a lidar sensor into the simulation model.
However, I’m encountering a challenge because the current simulation setup does not use a standard cmd_vel topic, as is present on the real robot. Instead, the simulation publishes velocity commands on a velocity_controller/command topic, which has a different message type/interface than what Nav2 expects.
Additionally, I observed that the real robot uses a topic named b2_unit_xxx/cmd_vel/hardware. Is there a way to integrate this specific topic’s functionality into the simulation model? Since the Nav2 toolbox requires cmd_vel data, could you please assist me in adjusting the simulation model? My goal is to use it to map the simulated environment and then utilize the navigation toolbox for robot movement.
Furthermore, while integrating the GPU lidar, I noticed an issue where several rays do not collide with objects. Are you aware of this problem?