ros2_lidar_mapping

Instructions

Docker

The docker container is setup with ros2 humble, turtlebot3 and gazebo installed.

Building the docker image

Navigate to the directory humble and open a terminal here. Run the command:

docker build -t humble .

This will create a docker image called humble in your system.

Launching the container

Now once the docker image is built, the container can be launched by running the command:

make up

This will run the container. Now to enter the container run the following command:

make enter

Now you have access to the container running on ubuntu jammy and ros2 humble, installed with gazebo and turtlebot3.

Launching Turtlebot3

Now launch a turtlebot3 simulation using the command:

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

By default the burger model of turtlebot will be spawned. If you want to change the model run:

export TURTLEBOT3_MODEL=burger

Change value burger to your desired model.

Note: Currently only the burger model is being spawned. The waffle and waffle_pi models are not being spwned and are giving errors as of now.

Changelog

Version 0.1

Updates: Created docker container with ros2 humble and turtlebot3+gazebo.