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navigation_tb3 package from ros_ws repo

my_robot_controller navigation_tb3 self_driving_car_pkg test_OAK test_imu test_mediapipe test_opencv test_turtle_bag test_yolov5 yolobot

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/bharath5673/ros_ws.git
VCS Type git
VCS Version main
Last Updated 2023-03-30
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
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.
src/navigation_tb3/README.md


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 output3

setting a goal

set waypoint to navigate robot output3

setting multi goals

set multiwaypoints to nav through multiple locations output3
__ __

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 ;) output3

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

Deps Name
ament_cmake
ament_cmake_python
ament_lint_auto
ament_lint_common
rclcpp
rclpy
std_msgs

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.

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