# Integrating Nav2 navigation stack with NVIDIA Isaac ROS GEMs

**URL:** <https://discourse.openrobotics.org/t/integrating-nav2-navigation-stack-with-nvidia-isaac-ros-gems/25186>\
**Category:** ROS General\
**Tags:** ros2, gpu, nav2, isaacros\
**Created:** [April 20, 2022, 5:03pm UTC](https://discourse.openrobotics.org/t/integrating-nav2-navigation-stack-with-nvidia-isaac-ros-gems/25186 "2022-04-20T17:03:15Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![ab\_nv](https://avatars.discourse-cdn.com/v4/letter/a/f19dbf/32.png) [@ab\_nv](https://discourse.openrobotics.org/u/ab_nv)\
**Post date:** [April 20, 2022, 5:03pm UTC](https://discourse.openrobotics.org/t/integrating-nav2-navigation-stack-with-nvidia-isaac-ros-gems/25186/1 "2022-04-20T17:03:15Z")

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Here is a project showing how to use [Nav2](https://navigation.ros.org/) with [NVIDIA Isaac Sim](https://developer.nvidia.com/isaac-sim) and [Isaac ROS GEMs](https://developer.nvidia.com/isaac-ros-gems) for robotic navigation.

We focus on a real-world problem where robots are damaged due to collision with forklift tines in warehouses. Commonly used robot sensors such as LIDAR can detect the body of a forklift, but can’t detect tines which are very close to the ground. We reproduce the problem in Isaac Sim and then use the Isaac ROS [Stereo](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_pipeline/tree/main/isaac_ros_stereo_image_proc) and [Segmentation](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_image_segmentation) GEMs to generate point clouds of forklift tines and update the Nav2 costmap.

 ![workflow_with_segmentation](https://us1.discourse-cdn.com/flex022/uploads/ros/original/2X/8/895d188275cfe3f8c8c02f6a80a844bdcc97f76c.png)

We show the Carter robot successfully detecting and navigating around the forklift tines in the simulated environment using LIDAR and RGB cameras.

 ![filtered_pc](https://us1.discourse-cdn.com/flex022/uploads/ros/original/2X/d/dc08299c3c39be5287737370dee519bcd4b50bb6.png)

For more details, please check out the [technical blog](https://developer.nvidia.com/blog/integrating-the-nav2-stack-with-nvidia-isaac-ros-gems/) and [project GitHub](https://github.com/NVIDIA-AI-IOT/Nav2-with-Isaac-ROS-GEMs).

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**Author:** ![system](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/b/6/b607ee3cc8e908b1b613bd74a683d749fea635a1.svg) [@system](https://discourse.openrobotics.org/u/system)\
**Post date:** [May 20, 2022, 5:03pm UTC](https://discourse.openrobotics.org/t/integrating-nav2-navigation-stack-with-nvidia-isaac-ros-gems/25186/2 "2022-05-20T17:03:52Z")

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