/ROS_gazebo_learn

Primary LanguageMakefile

ROS_gazebo_learn

Install catkin tools

https://catkin-tools.readthedocs.io/en/latest/installing.html

Link

https://automaticaddison.com/setting-up-the-ros-navigation-stack-for-a-simulated-robot/

Turtlebot link

https://github.com/ROBOTIS-GIT/turtlebot3

https://github.com/ROBOTIS-GIT/turtlebot3_simulations

https://cmake.org/download/

command run robot

roslaunch turtlebot3_gazebo turtlebot3_world.launch
command robot's velocity using "rqt" and robot steering to control movement

SLAM

export TURTLEBOT3_MODEL=waffle
roslaunch turtlebot3_gazebo turtlebot3_world.launch
install SLAM
sudo apt-get install ros-noetic-gmapping
run SLAM
export TURTLEBOT3_MODEL=waffle

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

Install map server

sudo apt-get install ros-noetic-map-server
Save map
export TURTLEBOT3_MODEL=waffle   
rosrun map_server map_saver -f ~/map       #(map is filename, you can edit!)

Navigation

install amcl for localization

sudo apt-get install ros-noetic-amcl

install movebase

sudo apt-get install ros-noetic-move-base

install dwa local planner

 sudo apt-get install ros-noetic-dwa-local-planner

run navigation

export TURTLEBOT3_MODEL=waffle
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

Record ROS Bag

 
 rosbag record -a

-a is record all

Play ROS bag

Note!! You have to run roscore first

rosbag play filename.bag