# Problems using navigation on gazebo environment

**URL:** <https://forum.hello-robot.com/t/problems-using-navigation-on-gazebo-environment/267>\
**Category:** Ask\
**Created:** [July 30, 2021, 5:08pm UTC](https://forum.hello-robot.com/t/problems-using-navigation-on-gazebo-environment/267 "2021-07-30T17:08:24Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Serendipity](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/serendipity/32/175_2.png) [@Serendipity](https://forum.hello-robot.com/u/Serendipity)\
**Post date:** [July 30, 2021, 5:08pm UTC](https://forum.hello-robot.com/t/problems-using-navigation-on-gazebo-environment/267/1 "2021-07-30T17:08:24Z")

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I’m trying to make the robot navigate itself in a gazebo simulation environment. After I run the mapping file in the stretch\_navigation folder, I cannot make the robot navigate itself using the navigation file in the same folder. Does navigation work in the simulation environment? If yes, is there a way to solve the problem?

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<div class="post-metadata">

**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [July 31, 2021, 7:40am UTC](https://forum.hello-robot.com/t/problems-using-navigation-on-gazebo-environment/267/2 "2021-07-31T07:40:47Z")

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Hello @Serendipity, welcome to the forum! The mapping and navigation launch files in Stretch Navigation are meant to be used with the real robot. If you would like to test Stretch Navigation in simulation, I’ve created `mapping_gazebo.launch` and `navigation_gazebo.launch`. This code is available for ROS Melodic on the [master](https://github.com/hello-robot/stretch_ros/tree/master/stretch_navigation/launch) branch and for Noetic on the [dev/noetic](https://github.com/hello-robot/stretch_ros/tree/dev/noetic/stretch_navigation/launch) branch. To use it, you can run:

```auto
roscd stretch_navigation
git checkout master # or dev/noetic
git pull

```

Usage of these launch files is similar to the previous two, so you can use the [README](https://github.com/hello-robot/stretch_ros/blob/feature/navigation_updates/stretch_navigation/README.md) for instructions and substitute as necessary. One difference is that the gazebo versions of these launch files have ROS args to select the simulated Gazebo World. For example, you can map the Willow Garage world using:

```auto
roslaunch stretch_navigation mapping_gazebo.launch gazebo_visualize_lidar:=true gazebo_world:=worlds/willowgarage.world

```

 ![gazebo_mapping](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/f05af7c68f6344c7e4c1072f6cede946925b24d8.jpeg)

Similarly, you can use `navigation_gazebo.launch` to do navigation with Stretch in Gazebo. Let me know if you have any questions.

* * *

_Update 9/24/2021: The launch files were merged in different branches, so I’ve updated the install instructions here._