Navigation Simulation Workspace - Venom VNV Docs

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

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.