This package is a ROS2 port of the following repo: https://github.com/hrnr/m-explore.
- ROS2 Foxy (I have only tested it on Foxy)
- Navigation2 package
- Turtlebot3 package
Please follow the Navigation2 Getting Started page to install the required packages and setup the required environment variables.
$ cd ~/my_ws/src
$ git clone https://github.com/CtfChan/explore_ros2.git
$ cd ~/my_ws
$ colcon build --packages-select explore_ros2 --symlink-install
$ . install/local_setup.bash
Launching too many nodes at the same time caused my laptop to crash. Launch the following commands in four separate panes using the order below.
$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
$ ros2 launch nav2_bringup slam_launch.py
$ ros2 launch nav2_bringup navigation_launch.py
$ ros2 launch explore_ros2 explore_demo.py
Work in progress...
Unit test executable is in my_ws/build/explore_ros2/test. Just call make && ctest to in this directory to build and run them. If you know a better way please let me know. I believe you can also run with colcon-test --package-select explore_ros2 but I haven't configured it to do so.