turtlebot3_ws

Step to rebuild this repo

1. Clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations & place it under src dir
2. Checkout branch foxy-devel
3. Navigate to same dir level as this README file and run colcon build --symlink-install
4. Source overlay: . install/local_setup.sh (ros2 overlay sourced) or . install/setup.sh (ros2 overlay NOT sourced)
5. Run demo

export TURTLEBOT3_MODEL=waffle_pi (or burger/waffle)
ros2 launch turtlebot3_gazebo empty_world.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py

NOTE: It may take a while for gazebo to download map components

6. Manual control

ros2 run turtlebot3_teleop teleop_keyboard

7. Self-driving

ros2 run turtlebot3_gazebo turtlebot3_drive

8. Visualize data

ros2 launch turtlebot3_bringup rviz2.launch.py

9. SLAM

ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True

10. Save map

ros2 run nav2_map_server map_saver_cli -f ~/map

NOTE: If there is an error, add --ros-args -p save_map_timeout:=10000

11. Load map

ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=$HOME/map.yaml

12. Navigation 2 - read more

NOTE: If loaded doesn't show tf of map origin, then init current pose may fail => reload map until it works

13. Use fake node in stead of simulation

ros2 launch turtlebot3_fake_node turtlebot3_fake_node.launch.py

ROS graph (SLAM + self-driving)