tortoisebot repository

tortoisebot repository

tortoisebot repository

Repository Summary

Checkout URI https://github.com/rigbetellabs/tortoisebot.git
VCS Type git
VCS Version ros2-humble
Last Updated 2024-12-11
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)

README

Tortoisebot ROS2 Humble Release

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Connect with UsInstallationSetupDemos

TortoiseBot

# Connect with us ![some-changes](https://img.shields.io/badge/some_changes-yellow) ![Website](https://img.shields.io/website?down_color=lightgrey&down_message=offline&label=Rigbetellabs%20Website&style=for-the-badge&up_color=green&up_message=online&url=https%3A%2F%2Frigbetellabs.com%2F) ![Discord Channel](https://img.shields.io/discord/890669104330063903?logo=Discord&style=for-the-badge) ![Youtube Subscribers](https://img.shields.io/youtube/channel/subscribers/UCfIX89y8OvDIbEFZAAciHEA?label=YT%20Subscribers&style=for-the-badge) ![Instagram](https://img.shields.io/badge/Follow_on-Instagram-pink?style=for-the-badge&logo=appveyor?label=Instagram) # 1. Installation ## 1.1 Required Dependences: ``` sudo apt install ros-humble-joint-state-publisher ros-humble-robot-state-publisher ros-humble-cartographer ros-humble-cartographer-ros ros-humble-gazebo-plugins ros-humble-teleop-twist-keyboard ros-humble-teleop-twist-joy ros-humble-xacro ros-humble-nav2* ros-humble-urdf ``` ``` cd ~/your workscpace colcon build ``` ## 1.2 Clone this repo Make sure you clone the repo in your robot and your remote PC ``` git clone -b ros2-humble https://github.com/rigbetellabs/tortoisebot.git ``` ``` cd ~/your workscpace colcon build ``` # 2. Setup - Run bringup.launch.py to only spawn the robot - Run autobringup.launch.py to spawn the robot with navigation and slam/localization - Launch the files with use_sim_time:=False when working on real robot ### 2.1 Launching the robot ``` ros2 launch tortoisebot_bringup autobringup.launch.py use_sim_time:=True exploration:=True ``` - exploration:=False for passed a saved map to navigation ### 2.2 Launch files for reference #### SLAM - cartographer.launch.py #### Navigation - navigation.launch.py #### Rviz - rviz.launch.py #### Gazebo - gazebo.launch.py ### 2.3 Remote PC While performing colcon build on remote-pc please add the below to ignore `ydlidar_sdk, ydlidar_ros2_driver, v4l2_camera` since lidar will not be connected to remote-pc. ``` colcon build --packages-ignore ydlidar_sdk ydlidar_ros2_driver v4l2_camera ``` # 3. Demos # The TortoiseBot 🐢🤖 The ReadMe is divided into several sections as per different topics and is constantly been updated and maintained with new updates by our talented and dedicated 👥 Team at RigBetel Labs LLP. So don't forget to often come here and check on it for the latest and greatest software updates, projects & skills for your TortoiseBot. Also don't forget to 🌟 Star this repository on top-right corner of the screen to show your 💖 Love and Support 🤗 for our Team. 🤩 It will make us happy and encourage us to make and bring more such projects for you. 😍 Click [here](https://github.com/rigbetellabs/tortoisebot/wiki/1.-Getting-Started) to get started. 1. [Getting Started](https://github.com/rigbetellabs/tortoisebot/wiki/1.-Getting-Started) 2. [Hardware Assembly](https://github.com/rigbetellabs/tortoisebot/wiki/2.-Hardware-Assembly) 3. [TortoiseBot Setup](https://github.com/rigbetellabs/tortoisebot/wiki/3.-TortoiseBot-Setup) 4. [Server PC Setup](https://github.com/rigbetellabs/tortoisebot/wiki/4.-Server-PC-Setup) 5. [Running Demos](https://github.com/rigbetellabs/tortoisebot/wiki/5.-Running-Demos) [Join](https://discord.gg/qDuCSMTjvN) our community for Free. Post your projects or ask questions if you need any help. ## TortosieBot is sourced, assembled, made & maintained by our team 🧑🏻‍🤝‍🧑🏻 at
RigBetel Labs LLP®, Charholi Bk., via. Loheagaon, Pune - 412105, MH, India 🇮🇳
🌐 [RigBetelLabs.com](https://rigbetellabs.com) 📞 [+91-8432152998](https://wa.me/918432152998) 📨 getintouch.rbl@gmail.com , info@rigbetellabs.com
[LinkedIn](http://linkedin.com/company/rigbetellabs/) | [Instagram](http://instagram.com/rigbetellabs/) | [Facebook](http://facebook.com/rigbetellabs) | [Twitter](http://twitter.com/rigbetellabs) | [YouTube](https://www.youtube.com/channel/UCfIX89y8OvDIbEFZAAciHEA) | [Discord Community](https://discord.gg/qDuCSMTjvN)

CONTRIBUTING

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