Multi-navigation system for Turtlebot3
This package provides basic operations and guides for multi-turtlebot3 navigation system, using Gazebo and RViZ.
- Ubuntu 16.04
- ros Kinetic
-[Optional] Ros Development studio (for online computing, instead of local. visit: https://rds.theconstructsim.com/)
Please install all the necessary packages for turtlebot3. For more information, follow exactly the guide from here: https://emanual.robotis.com/docs/en/platform/turtlebot3/setup/#setup
In case you don't want to hover over the link (only recommended for the pros), you can just simply follow these codes. (Or using the RDS online)
cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/catkin_ws && catkin_make
The method of installation is by simply doing catkin_make in your catkin_ws. Follow these codes.
cd ~/catkin_ws/src/
git clone https://github.com/syahmi001/multinav_turtlebot3.git
cd ~/catkin_ws && catkin_make
If no error found, congratulation! You have successfully installed the package.
Copy and paste these lines in your respective terminal.
- Terminal 1 : Running ros node master
roscore
- Terminal 2 : Initiating and Running Gazebo environment
export TURTLEBOT3_MODEL=burger
roslaunch multinav_turtlebot3 turtlebot3_world_multi.launch
- Terminal 3 : Running multiple turtlebot3 navigation stacks
export TURTLEBOT3_MODEL=burger
roslaunch multinav_turtlebot3 multinav_bringup.launch
- Terminal 4 : Running simple script by sending different goals to different turtlebot3
(you might want to run "chmod +x simple_navigation_goals.py" in the src folder first to make sure your machine recognize the script.)
cd ~/catkin_ws/src/multinav_turtlebot3/src
chmod +x simple_navigation_goals.py
export TURTLEBOT3_MODEL=burger
rosrun multinav_turtlebot3 simple_navigation_goals.py
If everything runs smoothly, the expected output should be as below:
In Gazebo
In RViz
