This is a ros package for setting up and running nav2 using the unity simulation. The following are step by step instructions on how to connect nav2 to the unity.
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Open a new terminal and connect to unity via ros-tcp-endpoint
source install/setup.bash ros2 run ros_tcp_endpoint default_server_endpoint --ros-args -p ROS_IP:=<your IP address>
Use hostname -I to find out your IP address
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Run the display.launch.py file in a new terinal
source install/setup.bash ros2 launch gbot_nav display.launch.py -
Run the slam_toolbox package in a new terminal
source install/setup.bash ros2 launch slam_toolbox online_async_launch.py -
Run the nav2_bringup package in a new terminal
source install/setup.bash ros2 launch nav2_bringup navigation_launch.py use_sim_time:=true params_file:=$HOME/ros2_ws/src/gbot_nav/config/nav2_params.yaml