YammyToast/CMP3753Project

CMP3753 Project

---

EXPORT EVERYTHING BEFORE STARTING!

---

Backtracking Spiral Algorithm

https://wiki.ros.org/full_coverage_path_planner

Turtlebot3 Gazebo World

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

Turtlebot3 Cartographer Implementation

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

Turtlebot3 Prebuilt Navigation (requires map.yaml from cartographer)

rviz set goal to start navigation.

ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=true map:=assets/my_map.yaml

Save Cartographer map for navigation

ros2 run nav2_map_server map_saver_cli -f my_map

Import Turtlebot models to gazebo

export GAZEBO_MODEL_PATH=ros2 pkg \ prefix turtlebot3_gazebo/share/turtlebot3_gazebo/models/

Set turtlebot model to use in gazebo (this also sets up topics)

export TURTLEBOT3_MODEL=burger

ref

https://ros2-industrial-workshop.readthedocs.io/en/latest/_source/navigation/ROS2-Cartographer.html