Multi Map Navigation in ROS2

WormholeNavigator 🌀

A ROS 2-based multi-map navigation system that enables seamless transitions between disconnected environments using "wormholes" - predefined entry and exit points that facilitate map switching.

📋 Overview

WormholeNavigator allows robots to navigate between multiple pre-mapped environments by defining transition points (wormholes) stored in a SQLite database. The system integrates with Nav2 for autonomous navigation and provides seamless map switching capabilities.

Key Features

• 🗺️ Multi-map navigation with seamless transitions
• 🎯 Action server for automated map switching
• 🗄️ Database-driven wormhole management
• 🤖 Full Nav2 integration
• 📍 Automatic pose initialization on new maps

🚀 Quick Start

Prerequisites

• ROS 2 Humble
• Ubuntu 22.04

1. Setup Workspace

mkdir -p ~/wormhole_ws/src
cd ~/wormhole_ws/src

2. Clone and Install dependencies

git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

git clone https://github.com/Ellakiya15/Multi-Map-Navigation-in-ROS2.git

sudo apt install libsqlite3-dev

3. Build workspace

colcon build

4. Source the workspace

source install/setup.bash

🎮 Running the Demo

Terminal Setup

Open 5 separate terminals and source the workspace in each:

cd ~/wormhole_ws
source install/setup.bash

Step-by-Step Execution

Terminal 1: Launch Gazebo Simulation

ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py

Terminal 2: Start Multi-Map Navigation Stack

ros2 launch multi_map_nav nav.launch.py

Terminal 3: Launch RViz Visualization

ros2 launch nav2_bringup rviz_launch.py

Terminal 4: Start WormholeNavigator Node

ros2 run wormhole_navigator wormhole_navigator_node

Node should initialize and connect to database

Terminal 5: Execute Demonstration Commands

1️⃣ Test Basic Navigation

ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose \
"{pose: {header: {frame_id: 'map'}, pose: {position: {x: 1.63, y: 2.82, z: 0.0}, orientation: {z: 0.0, w: 1.0}}}}"

2️⃣ Execute Wormhole Transition

ros2 action send_goal /switch_map wormhole_interfaces/action/SwitchMap \
"{from_map: 'map1.yaml', to_map: 'map2.yaml'}"

3️⃣ Validate Post-Transition Navigation

ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose \
"{pose: {header: {frame_id: 'map'}, pose: {position: {x: -1.63, y: -0.60, z: 0.0}, orientation: {z: 0.0, w: 1.0}}}}"

Expected Results

• Step 1: Robot navigates to position (1.63, 2.82) on the initial map
• Step 2: Map switches from map1.yaml to map2.yaml, robot appears at wormhole entry point
• Step 3: Robot navigates to position (-1.63, -0.60) on the new map