Stanford-NavLab/navlab_turtlebot

Autonomy stack for TurtleBot robots

navlab_turtlebot

ROS workspace for turtlebot autonomy. Developed and tested with Python 3 and ROS Noetic/Melodic

Setup

1. Install ROS.
2. Install catkin tools.
3. Install python dependencies:

pip3 install --user empy catkin-pkg rospkg

4. Install ROS dependencies:

sudo apt-get install ros-"${ROS_DISTRO}"-turtlebot3 ros-"${ROS_DISTRO}"-move-base ros-"${ROS_DISTRO}"-teb-local-planner

5. Create a ROS workspace and clone this repo into the src/ folder of your workspace.
   • If base station, additionally (also in src/), clone https://github.com/Stanford-NavLab/navlab_turtlebot_base and install dependencies.
6. Run catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release from workspace root.

Run

Simulation

Gazebo two robot position exchange

1. roslaunch navlab_turtlebot_bringup navigate_multi.launch

• robot_count = 4
• goal_file = two_swap.yaml

2. Start the controllers

• rosrun navlab_turtlebot_control twist_sender.py -n turtlebot1
• rosrun navlab_turtlebot_control twist_sender.py -n turtlebot2

3. Start the planners

• rosrun navlab_turtlebot_planning dubins_planner.py -n turtlebot1
• rosrun navlab_turtlebot_planning dubins_planner.py -n turtlebot2

---

In general: roslaunch navlab_turtlebot_bringup navigate_multi.launch

args:

• robot_count:=n
• sim:=true/false
• planner:="" or "goal"
• goal_file:=<filename>.yaml

(Params/goal file location: navlab_turtlebot_base/navlab_turtlebot_sim/params/)

• For now, easiest to edit navigate_multi.launch to adjust params file

Change ROS planner: navlab_turtlebot/navlab_turtlebot_planning/launch/move_base_multi.launch

• TEB planner or DWA planner
• Also edit planner parameters here

TEB planner obstacles:

1. publish to topic: /turtlebot1/move_base/TebLocalPlannerROS/obstacles

Flightroom

Collaborative localization and planning (with 4 bots):

Troubleshooting

If you get an error that says:

/usr/bin/env: ‘python’: No such file or directory

Then you may need to add a symlink so ROS can find your Python version. For example

sudo ln -s /usr/bin/python3 /usr/bin/python