Turtlebot Goal Navigation
This package is developed for goal navigation on turtlebot3.
Getting Started
Here, turtlebot3 hardware and simulation was used for testing and implementation.
For further information please follow; http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/
Prerequisites & Test Environment
Ubuntu 16.04.6 LTS (Xenial) + ROS Kinetic + Turtlebot3 hardware
Installation & Setup
For connecting the turtlebot3 hardware, please follow the issue Meet the real turtlebot
in tier4.
simply clone this repo with command,git clone git@fbe-gitlab.hs-weingarten.de:stud-amr/2019-ws-master/mg-183368_tier4.git
make sure to install turtlebot3 navigation from, https://github.com/ROBOTIS-GIT/turtlebot3.git
.
Install and make teb planner at https://github.com/rst-tu-dortmund/teb_local_planner.git
Running the repo
- Once you have connected your turtlebot with your pc with
ssh pi@<ip_of_your_bot>
- For detailed instruction of launching and bringup, please follow the issue
Meet the real turtlebot
- After this, we start our navigation & localization node with
roslaunch mg_183368_prj navigation.launch
- Then with
2D Pose Estimate
button on rviz, localization was improved followed by launching teleop node to drive the bot to the centre of the maproslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
- one can also test the setup with test goals with,
rosrun mg_183368_prj my_test_goals.py
- goal publisher is then started, make sure if your roscore is running !
- Please double check if you are receiving the /goals topic.
- At the end, run
roslaunch mg_183368_prj goal_navigation.launch