Navigation Simulation Workspace

Module Role¶

simulation/venom_nav_simulation is a standalone ROS 2 simulation workspace used for:

simulated MID-360 and IMU streams
Point-LIO / Fast-LIO validation
Nav2 workflow testing
localization and navigation verification before touching real hardware

Main Capabilities¶

Gazebo-based vehicle simulation
simulated MID-360 point cloud output
simulated IMU output
Point-LIO / Fast-LIO integration
Nav2 mapping and navigation validation

Current Layout¶

simulation/venom_nav_simulation/
├── src/rm_nav_bringup
├── src/rm_navigation
├── src/rm_localization
├── src/rm_perception
└── src/rm_simulation/venom_mid360_simulation

Quick Start¶

cd simulation/venom_nav_simulation
rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
colcon build --symlink-install
source install/setup.bash
ros2 launch rm_nav_bringup bringup_sim.launch.py \
  world:=RMUL \
  mode:=nav \
  lio:=pointlio \
  localization:=slam_toolbox \
  lio_rviz:=False \
  nav_rviz:=True

Docker Path¶

If you want to use the root-level unified sim environment:

cd ~/venom_ws/src/venom_vnv
make build
make up
make shell

Inside the container:

cd /ros_ws
source /opt/ros/humble/setup.bash
rosdep install -r --from-paths src --ignore-src --rosdistro humble -y
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DROS_EDITION=ROS2 -DHUMBLE_ROS=humble

Or use the wrapped commands:

cd ~/venom_ws/src/venom_vnv
make rosdep
make colcon

To reproduce the CI build locally:

cd ~/venom_ws/src/venom_vnv
make ci-build

The current Docker image is based on ros:humble-ros-base and includes Ignition Fortress, Nav2, RViz2, PCL, OpenCV, and YOLO runtime dependencies. CI skips hardware drivers and Gazebo Classic packages.

Why It Stays Separate¶

This is not meant to be merged into the main deployment workspace:

dependencies are heavier
simulation assets are larger
simulation launch composition differs from real-robot bringup

It is better treated as a simulation baseline.