- You need to install ros1 and Gazebo first.
sudo apt install ros-melodic-desktop-full ros-melodic-turtlebot3 ros-melodic-turtlebot3-gazebo
- Run Gazebo Emulator
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_gazebo turtlebot3_world.launch
- Open another terminal and run teleop
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
- Open another terminal and Run SLAM
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_slam turtlebot3_slam.launch
- Open another terminal and Save map
rosrun map_server map_saver -f ~/sim_map
- Open another terminal and Run navigation
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/sim_map.yaml
- Download and build the code
- You can modify
bt_test.xml
for behavior tree.
- Start to run
source devel/local_setup.bash
rosrun bt_sample node _file:=absolute_path/bt_test.xml