dwpp_test_environment

A Docker-based environment for developing Nav2 official implementation of DWPP (ROS2 Rolling).

This repository provides:

• 📘 Simulations for comparing DWPP with conventional methods
• 🚀 Nav2 tutorials that run with DWPP

Assumptions

• Docker & Docker Compose for creating the virtual environment
• Task for command management
• (Optional) Nvidia GPU with nvidia-container-toolkit if GPU is available

To install Task on Ubuntu:

sudo sh -c "$(curl --location https://taskfile.dev/install.sh)" -- -d -b /usr/local/bin

Installation

1. Clone this repository

git clone -b feature/nav2_integration --recursive https://github.com/Decwest/dwpp_test_environment.git

2. Build the docker image

task build.rolling

1. Run the container

• With GPU:

task run.rolling.gpu

• CPU only:

task run.rolling.cpu

1. Build packages

Inside the Docker terminal:

colcon build --symlink-install

For the first build only:

source install/local_setup.bash

Running Method Comparison Simulation

ros2 launch dwpp_test_simulation dwpp_test.launch.py

👉 Try out different pure pursuit methods on several example path-tracking scenarios.

Controller parameters are defined here: 🔗 test_params.yaml

dwpp_comparison_simulation.mp4

Running the Nav2 Tutorial with DWPP

1. Launch the Nav2 tutorial

ros2 launch nav2_bringup tb3_simulation_launch.py params_file:=$(ros2 pkg prefix dwpp_test_simulation)/share/dwpp_test_simulation/params/example_dwpp_params.yaml headless:=False

2. Set the initial pose using the 2D Pose Estimate panel in RViz2 (important).
3. Set a goal pose using the Nav2 Goal panel in RViz2. Nav2 should now start navigating! 🚀

Controller parameters are defined here: 🔗 example_dwpp_params.yaml

dwpp_nav2_simulation.mp4