Nav2 bringup for dynamic obstacles

nav2_dynamic_bringup/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(nav2_dynamic_bringup)
+
+find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(navigation2 REQUIRED)
+
+nav2_package()
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY maps DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY worlds DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY params DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

nav2_dynamic_bringup/README.md

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+# nav2_dynamic_bringup
+
+The `nav2_dynamic_bringup` package is an example bringup system for launching CARLA to test navigation in a dynamic environment.
+
+To setup a dynamic environment, you need to run the following scripts.
+
+--------------
+
+### Installing CARLA 0.9.13 on Ubuntu 22.04 
+
+#### Installation Procedure (Docker)
+
+Follow the link below and execute the provided script: https://carla.readthedocs.io/en/docs-preview/build_docker/
+```shell
+docker pull carlasim/carla:0.9.13
+```
+
+#### Installation Procedure (Native)
+Alternatively, you can download CARLA manually from the following link:
+https://github.com/carla-simulator/carla/releases/tag/0.9.13 and download `CARLA_0.9.13.tar.gz`.
+
+
+-------------------
+
+
+### Installing CARLA ROS Bridge (Docker)
+```bash
+mkdir -p ~/carla-ros-bridge && cd ~/carla-ros-bridge
+git clone --recurse-submodules https://github.com/chiragmakwana0296/ros-bridge.git -b fix/docker src/ros-bridge
+cd src/ros-bridge/docker
+docker compose build build_image
+docker compose up colcon_build
+``` 
+#### Host setup
+```bash
+sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp
+# add below lines to ~/.bashrc
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+export FASTRTPS_DEFAULT_PROFILES_FILE=~/carla-ros-bridge/docker/content/dds.xml 
+```
+
+
+### Installing CARLA ROS Bridge (Native)
+
+Clone the master branch of ```carla_ros_bridge``` and follow the official installation guide:
+https://carla.readthedocs.io/projects/ros-bridge/en/latest/ros_installation_ros2/
+
+```shell
+mkdir -p ~/carla-ros-bridge && cd ~/carla-ros-bridge
+
+git clone --recurse-submodules https://github.com/carla-simulator/ros-bridge.git src/ros-bridge
+
+rosdep update
+rosdep install --from-paths src --ignore-src -r
+
+colcon build
+```
+#### Installing `.egg` and `.whl` Files
+For running CARLA ROS Bridge on Ubuntu 22.04, you need compatible .egg and .whl files.
+Download them from the following link: https://github.com/gezp/carla_ros/releases/tag/carla-0.9.13-ubuntu-22.04
+
+Copy the downloaded files to the CARLA Python API directory:
+* carla-0.9.13-cp310-cp310-linux_x86_64.whl 
+* carla-0.9.13-py3.10-linux-x86_64.egg 
+
+```shell
+cp carla-0.9.13-cp310-cp310-linux_x86_64.whl /path_to_carla/CARLA_0.9.13/PythonAPI/carla/dist/
+cp carla-0.9.13-py3.10-linux_x86_64.egg /path_to_carla/CARLA_0.9.13/PythonAPI/carla/dist/
+```
+
+#### Installing the `.whl` File
+```shell
+cd /path_to_carla/CARLA_0.9.13/PythonAPI/carla/dist/
+pip3 install carla-0.9.13-cp310-cp310-linux_x86_64.whl 
+```
+
+#### Setting Up Environment Variables
+Add the CARLA paths to your `.bashrc` file:
+```shell
+export CARLA_ROOT=/path-to-carla/CARLA_0.9.13/
+export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.13-py3.10-linux-x86_64.egg:$CARLA_ROOT/PythonAPI/carla
+```
+
+Then, source the file:
+```shell
+source ~/.bashrc
+```
+
+
+### Running CARLA and CARLA-ROS Bridge
+
+-------------------------------
+#### Run CARLA Simulation (docker)
+1. To run the CARLA simulation, execute the following command in Terminal 1:
+```shell
+sudo docker run --privileged --gpus all --net=host -e DISPLAY=:1 carlasim/carla:0.9.13 /bin/bash ./CarlaUE4.sh
+```
+
+#### CARLA ROS Bridge (Docker)
+Run bridge 
+```bash
+docker compose up run_bridge
+```
+To generate thetraffic 
+```bash
+docker compose up generate_traffic
+```
+
+#### CARLA ROS Bridge (Native Ubuntu 22.04)
+2. To run the CARLA ROS bridge, execute the following command in Terminal 2:
+```shell
+ros2 launch carla_ros_bridge carla_ros_bridge_with_example_ego_vehicle.launch.py
+```
+
+3. To send command signals to CARLA, run the following command in Terminal 3:
+```shell
+ros2 run carla_twist_to_control carla_twist_to_control
+```
+
+4. To generate traffic, execute the following commands in Terminal 4:
+```shell
+cd /path_to_carla/CARLA_0.9.13/PythonAPI/examples/
+python3 generate_traffic.py
+```
+
+#### Nav2 Stack for Navigation
+5. To run the navigation stack, execute the following command in Terminal 5:
+```shell
+ros2 launch nav2_dynamic_bringup navigation_launch
+```