I am going to use nav25d_01 project and world_25d_05.sdf world for this demo, as this is the only combination currently available that is 2.5d and has proper friction settings.
Note that at the moment (I will fix it later) the nav25d_01 project does not officially support ROS2 Nav package. It is understandable, as this package is mainly designed for a flat world.
# Terminal 1
# echo $ROS_DISTRO
# galactic
#
# source /opt/ros/galactic/setup.bash
#
$ cd ~/SnowCron/ros_projects/harsh
$ colcon build --packages-select nav25d_01
$ source install/setup.bash
Just a reminder: do not forget to comment in/out the code in multi_simulation_launch.py that is responsible for showing one or two robots.
# To run a single robot without SLAM or Map (robot name in code is set to ""):
$ ros2 launch nav25d_01 multi_simulation_launch.py world:=src/worlds/world_25d_05.sdf
rviz_config_file:=src/nav25d_01/rviz/simple_single.rviz mode:=simple
# Compare with previous sections'. As you can see, navigation is (temporary) removed.
# Here is the command from earlier sections, for reference:
$ ros2 launch nav25d_01 multi_simulation_launch.py world:=src/worlds/world_25d.sdf
map:=src/maps/world_01.yaml keepout_mask:=src/maps/keepout_world_01.yaml
rviz_config_file:=src/multi_bot_nav_03/rviz/simple_single.rviz mode:=simple
Note that I have moved the robot away from (0,0), so in RViz it is not initially visible: you will have to zoom out a bit.
# To run a multi robot without SLAM or Map (robot name set to robot1, robot2). Do not
# forget to uncomment code for multiple robots in the launch file, and to comment out
# the code for a single robot with empty namespace:
$ ros2 launch nav25d_01 multi_simulation_launch.py world:=src/worlds/world_25d_05.sdf
rviz_config_file:=src/nav25d_01/rviz/simple_multi.rviz mode:=simple