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Turtlebot3 Navigations

Turtlebot3 package for autonomous navigation that uses the namespace tb3.

Tested on ROS Melodic Gazebo.

Dealing with namespaces

When using namespaces and/or multiple robots, separate yaml files need to be created for each robot (that uses move_base) to reflect the new namespaced topics. These are (some of) the locations which need to be updated

To enable manual navigation via RVIZ, ensure the topics for the following are in the right namespace in your rviz config file:

  • Visualization Manager :

    • move_base_simple in Tools -> rviz/SetGoal
    • move_base/NavfnROS/plan in Display -> rviz/Path

Autonomous Mapping

The explore_lite launch file performs autonomous mapping of closed spaces. It uses the explore_lite package, which can be installed easily using

sudo apt-get install ros-<DISTRO>-explore-lite

or from source(which is what I did) as follows

cd catkin_ws
git clone --single-branch --branch <ROS_distro>-devel https://github.com/hrnr/m-explore.git

This works, but is not perfect; could use more fine tuning to work in complex worlds.

Localization

Use the global_localization and nomotion_update/request_nomotion_update services for localization. Refer to this tutorial for more info