Hello researchers. In this project, I will present my works that I have done in real environment and gazebo simulation environment using Turtlebot3 and Turtlebot2. Many systems such as mapping, positioning, use of sensor data are explained in the project.
Ubuntu 20.04 (I used this version)
ROS Noetic
Turtlebot3 or Turtlebot2
Python and My choice Spyder IDE
!! Before starting this phase, you should make sure that the above requirements are fully met !!
!! After installing ROS and Turtlebot3, do not forget to make catkin_make in the catkin_ws file !!
!!Then you can locate the labirent_ortam.launch file wherever you want and run it with roslaunch. I preferably put it in turtlebot3_simulations/turtlebot3_gazebo/launch file !!
1️⃣ Let's run the Gazebo environment
cd catkin_ws
rosluanch turtlebot3_gazebo labirent_ortam.launch
2️⃣ Let's do mapping through Rviz
Turtlebot2 :
-> roslaunch turtlebot_navigation gmapping_demo.launch
-> roslaunch turtlebot_rviz_launchers view_navigation.launch (Don't forget to replace the map in view_navigation.launch with your own map's .yaml file.)
-> roslaunch turtlebot_teleop turtlebot_teleop_key.launch
Turtlebot3 :
-> roslaunch turtlebot3_bringup turtlebot3_robot.launch
-> roslaunch turtlebot3_slam turtlebot3_slam.launch
-> roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
3️⃣ Save the map Turtlebot3 and Turtlebot2 :
$ rosrun map_server map_saver -f ~/map
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml (Show the location of the map you saved)
First of all, in this project, I keep my codes under the catkin_ws/src/codes/scripts file. You can find the pyqt5 design files in the ui_file file.
roslaunch turtlebot3_gazebo labirent_ortam.launch
roslaunch turtlebot3_navigation turtlebot3_navigation.launch (Don't forget to replace the map in view_navigation.launch with your own map's .yaml file.)
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch (The robot needs to go around a full turn in order to fully understand its location)
cd catkin_ws/src/codes/scripts
chmod +x robot_control.py
python3 robot_control.py (If you are using Python 3.x version)
python robot_control.py (If you are using Python 2.x version)
After completing the task assigned to the robot, it will send feedback to the place where Tour Information is written. You are now ready to use the system 🎊 🎊 🎊
✔️ https://emanual.robotis.com/docs/en/platform/turtlebot3/navigation/
✔️ https://gist.github.com/jeremyfix/0c5973aba508ee8b6e8d3c3077c6db1e (Noetic install Turtlebot2)
✅ Fleet management : I will be working on multiple robots.
✅ Full coverage path planner : I will have the robot go to each point of the map in one go.