Intro-To-NAV2-With-MoboBot-Workshop

Introduction to ROS2 (Nav2) With MoboBot Workshop for the ROS Naija Abuja Meetup 28th, March 2026.

PRESENTATION LINK JUST ENSURE YOU SET UP YOUR PC FOR THE WORKSHOP

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📁 PC SETUP

📝 Note:

• You would be setting up Ubuntu 24.04, ros-jazzy-desktop, and Gazebo Harmonic.
• You can also follow with Windows 11 and WSL with Ubuntu24.04 LTS
• Those who use Ubuntu 22.04 and ros-humble can also follow along

1. System Setup and Configuration (Ubuntu 24.04 LTS)

Option 1: Dual Boot (Highly Recommended | If you can)

• Watch Tutorial: YouTube Tutorial

Option 2: Using WSL (Recommended Alternative for Windows 11 Users)

• Open PowerShell from windows start menu and run the following command to install WSL

  wsl --install

• Follow this Tutorial to Install ubuntu 24.04 on WSL

Option 3: Virtual Machine Installation

• Watch Tutorial: YouTube Tutorial

Option 4: ros2env -> DevContainer with VSCode + Docker

• Visual Studio Code: Install VSCode
• Docker Desktop: Install Docker
• Follow this repo: ROS2env
• Watch this video ROS2env
• In VSCode: Click Reopen in Container

The .devcontainer folder is pre-configured with ROS2 Jazzy and tools.

2. ROS2 Jazzy Installation

• Robocre8 Tutorial (Recommended): How To Install ROS2 Jazzy Desktop On PC (FULL INSTALL)

• Official ROS Documentation: ROS 2 Jazzy (Ubuntu Noble 24.04)

• Post-Installation Check:

  echo $ROS_DISTRO

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🧰 Workshop Package: MoboBot

Give the package a ⭐ and learn more about ROS and robotics by Robocre8.

MoboBot is a compact yet powerful open-source robot designed to foster the learning of advanced autonomous indoor mobile robotics with ROS2 — both in real-world applications and simulation.

concepts such as sensor-fusion, control, state-estimation, mapping, localization, SLAM, navigation, obstacle avoidance, perception, with AI.

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MoboBot Gazebo Simulation

📝 Note:

• Your Dev PC must be running Ubuntu 24.04, ros-jazzy-desktop, and Gazebo Harmonic.
• If you followed the installation guide, you should not worry about this info
• just follow the instructions below by just copying and pasting. There's no need to worry much.

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🔧 Prerequisites

• Cyclone DDS Setup:

  NOTE: if you follow the installation guide, you'd have installed this. You can skip this step.

  sudo apt install ros-jazzy-rmw-cyclonedds-cpp

  export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

  echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> ~/.bashrc

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📦 Clone and Build MoboBot

• Create Workspace:

  mkdir -p ~/mobo_bot_ws/src && cd ~/mobo_bot_ws && colcon build

  source ~/mobo_bot_ws/install/setup.bash

• Clone Arrow Key Teleop Package:

  sudo apt install python3-pip -y && sudo apt install python3-pynput -y

  cd ~/mobo_bot_ws/src && git clone https://github.com/samuko-things/arrow_key_teleop_drive.git

  Learn more about the arrow_key_teleop_drive

• Clone MoboBot Packages:

  cd ~/mobo_bot_ws/src && git clone -b jazzy https://github.com/robocre8/mobo_bot.git

• Ignore Hardware (optional):

  cd ~/mobo_bot_ws/src/mobo_bot/mobo_bot_base && touch COLCON_IGNORE

• Install Dependencies:

  cd ~/mobo_bot_ws && rosdep update && rosdep install --from-paths src --ignore-src -r -y

• Build Packages:

  cd ~/mobo_bot_ws && colcon build --symlink-install

• Export MOBOBOT_BASE_TYPE env variable

  export MOBOBOT_BASE_TYPE=2WD

  echo "export MOBOBOT_BASE_TYPE=2WD" >> ~/.bashrc

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🔭 View Robot and TF Tree

• Robot State Publisher, Rviz Visualization, and TF tree View:

  source ~/mobo_bot_ws/install/setup.bash && ros2 launch mobo_bot_bringup tf_view.launch.py use_hardware:=false

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🎮 Run MoboBot Simulation

NOTE: run in different terminals.

• Start Simulation:

  source ~/mobo_bot_ws/install/setup.bash && ros2 launch mobo_bot_bringup sim.launch.py #use_camera:=true

• Control with Keyboard:

  source ~/mobo_bot_ws/install/setup.bash && ros2 run arrow_key_teleop_drive arrow_key_teleop_drive 0.3 0.9 true

  NOTE: you would need to click into the rviz or simulation for the arrow_key_teleop drive to start woking. because it uses pynput

  NOTE: also feel free to use any other teleop package you want

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