Navigation 2 demo in ROS2 using TurtleBot3 (Humble)

This repository demonstrates the usage of Navigation 2 framework in ROS 2 using TurtleBot3 Gazebo simulation. The task at hand - making the robot patrol an area (with 4 configured points in the map, for simplicity).

It is inspired by the works of Davide Faconti’s BehaviorTree.CPP and Sebastian Castro’s Navigation 2 demo. In fact, I learned quite a bit from Sebastian’s repository. So you can also look at his work to learn, as this repo has a lot in common with it. I reverse engineered and stripped down navigation 2 demo further for first time developers. I hope this serves as a great base for you to start working with Navigation 2 in ROS 2.

The repository is in service of Navigation 2 Learning experience and fulfills the demonstration of the following -

• Navigation 2 framework
• Behavior Trees (C++)

Additionally, for first time ROS 2 developers, this repository also demonstrates the following -

• ROS 2 python package usage
• ROS 2 C++ package usage
• ROS 2 launch infrastructure

You need ROS 2 (current main branch uses humble, galactic is in another branch) and TurtleBot3 simulation woking on Gazebo. You’re good to go if you can follow this TurtleBot 3 ROS 2 tutorial successfully.

To reproduce the above result, follow the steps below -

1. Clone this repository in a new ros2 workspace in src directory (turtlebot3_ws/src)

git clone git@github.com:thehummingbird/nav2_demo_turtlebot3.git .

1. Import TurtleBot3 packages with vcs

vcs import . < turtlebot3.repos

1. Build all packages from workspace directory (turtlebot3_ws)

colcon build --symlink-install

Ignore sterr output (that's a warning)

1. Source the workspace

source ./install/setup.bash

1. Export TurtleBot3 model

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models

export TURTLEBOT3_MODEL=waffle_pi

1. Launch turtlebot3 simulation infrastructure

ros2 launch tb3_sim turtlebot3_world.launch.py

1. Launch nav2 infrastructure (nav2 + amcl initial pose)

source ./install/setup.bash
ros2 launch tb3_sim nav2.launch.py

1. Launch autonomy behavior for demo

source ./install/setup.bash
ros2 launch tb3_autonomy autonomy.launch.py

This starts our demonstration where TurtleBot moves between 4 different locations in the world simulation (set in tb3_sim/config/sim_house_locations.yaml)