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navigation_tb3 package from ros_ws repomy_robot_controller navigation_tb3 self_driving_car_pkg test_OAK test_imu test_mediapipe test_opencv test_turtle_bag test_yolov5 yolobot |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | my ROS workspace |
| Checkout URI | https://github.com/bharath5673/ros_ws.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-03-30 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | opencv robot esp32 yolo gazebo oled l293d opencv-python l298n pico ros2 humble imu-sensor mediapipe yolov5 oak-d luxonis ros2-humble picow |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- bharath
Authors
No additional authors.
ROS2 Navigation Stack
1. Creating Maps
step 1
### steps for setting up
sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup ros-humble-turtlebot3* ros-humble-turtlebot3-simulations
sudo apt install ros-humble-rmw-cyclonedds-cpp
sudo sh -c "echo 'export TURTLEBOT3_MODEL=waffle' >> ~/.bashrc"
sudo sh -c "echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.bashrc"
step 2
### steps for creating maps
## launch turtlebot3 on gazebo
source ros_ws/install/setup.bash
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
## now start turtlebot3_cartographer to map env
source ros_ws/install/setup.bash
ros2 launch turtlebot3_cartographer cartographer.launch.py
## control robot via telop keys
source ros_ws/install/setup.bash
ros2 run turtlebot3_teleop teleop_keyboard
## after SLAM allover save maps
mkdir turtlebot3_maps
source ros_ws/install/setup.bash
ros2 run nav2_map_server map_saver_cli -f turtlebot3_maps/map_test_1
## check weather maps saved
ls turtlebot3_maps
<map_test_1.pgm> <map_test_1.yaml>
step 3
### steps for loading maps and navigate turtlebot
source ros_ws/install/setup.bash
ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=turtlebot3_maps/map_test_1.yaml
select and play according..
2. WayPoint Navigation
Waypoint navigation in ROS2 refers to the process of defining a set of pre-defined locations or “waypoints” for a robot to navigate through in a specific sequence. This involves setting up a list of goals for the robot to reach and then using a navigation algorithm to plan the robot’s path through the waypoints uisng maps.
step 1
## launch turtlebot3 on gazebo
source ros_ws/install/setup.bash
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
step 2
## now launch gazebo rtab using saved map on new tab
source ros_ws/install/setup.bash
ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_true:=True map:='turtlebot3_maps/map_test_1.yaml'
Initialize pose
reinit robot location on rtab looking into robot orientations on gazebo sim to sync env
setting a goal
set waypoint to navigate robot
setting multi goals
set multiwaypoints to nav through multiple locations
__
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3. Commander API
The Commander API provides a set of functions that enable the robot to perform navigation tasks such as setting the robot’s initial pose, setting a goal position, and canceling a navigation task in one single run ;)
step 1
## launch turtlebot3 on gazebo
source ros_ws/install/setup.bash
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
step 2
## now launch gazebo rtab using saved map on new tab
source ros_ws/install/setup.bash
ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_true:=True map:='turtlebot3_maps/map_test_1.yaml'
step 3
## cmd or nav through code
source ros_ws/install/setup.bash
ros2 run navigation_tb3 single_goal_nav.py
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged navigation_tb3 at Robotics Stack Exchange
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