ROS 2 Turtlebot 3 Map Explorer

Description

In this repo we use Turtlebot 3 along with ROS 2 and Gazebo to explore an unknown csv environment, navigate through it and create a map.

The map is created using SLAM with the package Google Cartographer and navigation is achieved with Nav2 package. We have developed two exploring algorithyms:

Wanderer Exploration explores the map doing random turns when it detects an obstacle. It’s a convenient way to explore small maps but time consuming for bigger ones.

Discoverer Exploration prioritizes specific unknown hotspots of the map convoluting the occupancy grid. It’s a better way to explore bigger maps in exchange of a higher computational cost.

Youtube Video

Installation (tested on Ubuntu 22.04 - ROS 2 Humble)

Install ROS2 Humble

Don’t forget to install colcon:

sudo apt install python3-colcon-common-extensions

Install Gazebo:

sudo apt install gazebo

Install Python libraries:

sudo apt install python3-pip
pip3 install pandas

Create a ROS2 workspace:

mkdir -p ~/turtlebot3_ws/src
cd ~/turtlebot3_ws/src

Clone the repository:

git clone https://github.com/DaniGarciaLopez/ros2_explorer.git

Compile packages and get dependencies:

cd ~/turtlebot3_ws/src
sudo apt update && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

cd ~/turtlebot3_ws/
colcon build

Include the following lines in ~/.bashrc:

source /opt/ros/humble/local_setup.bash
source ~/turtlebot3_ws/install/local_setup.bash

export TURTLEBOT3_MODEL=burger
export GAZEBO_MODEL_PATH=~/turtlebot3_ws/src/ros2_explorer/explorer_gazebo/models

How to run

Execute the launch file and pass the map name (Opens Gazebo simulation, Rviz, Cartographer, Nav2 and exploration servers):

ros2 launch explorer_bringup explorer.launch.py map_name:=map10

Execute manager node and select the desired exploring algorithm:

ros2 run explorer_bringup manager

Add your own CSV Map

Add your own csv maps in this folder:

cd ~/turtlebot3_ws/src/ros2_explorer/explorer_gazebo/maps/

Run Python script:

cd ~/turtlebot3_ws/src/ros2_explorer/explorer_gazebo/
python3 gazebo-map-from-csv.py

Maps will be converted to Gazebo format in /explorer_gazebo/models folder. Create a new .world.xml file in /explorer_gazebo/worlds and modify the name of the map you want to use:

<include>
  <uri>model://map1</uri>
</include>

Package structure