neo_navigation

This repository contains the ROS packages for navigate TurtleBot3 in a figure-8 pattern with Simple Commander API in two scenarios follow waypoints and move through poses. This is used to demonstrate different robotic behavior in these two cases. Details in video https://youtu.be/ZvESSTOERUQ .

Prerequisites

1. Ubuntu 20.04
2. Python 3.8
3. ROS Galactic

Required ROS packages

• ros-galactic-navigation2
• ros-galactic-nav2-bringup
• ros-galactic-turtlebot3*

Development

Setup

neo_navigation packages use colcon for building code. So first of all you need to prepare colcon workspace:

$ mkdir -p ros2_ws/src
$ cd ros2_ws/src
$ cd ..
$ colcon build

Now you need to source the setup.bash by previous build.

$ source ~/ros2_ws/install/setup.bash

It is recommended to add a corresponding line to .bashrc to source required environment automatically. Also export turtlebot3 model and add Gazebo models path for simulation.

export TURTLEBOT3_MODEL=waffle
$ export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/<ros2-distro>/share/turtlebot3_gazebo/models

Build

Clone neo_navigation repository into catkin_ws/src directory and execute colcon build in the root of catkin workspace:

$ cd ros2_ws/src
$ git clone https://github.com/SystemDiagnosticss/neo_navigation
$ cd ..
$ colcon build

Run Gazebo simulation

Run Turtlebot3 simulation in Gazebosim in headless mode

$ ros2 launch nav2_bringup tb3_simulation_launch.py headless:=True

Scenario 1: Launch follow_waipoints for moving via points with pause in every points

$ ros2 launch follow_waypoints follow_waypoints.launch.py

Scenario 2: Launch follow_waipoints for moving via points without pause and path smoothing.

$ ros2 launch follow_waypoints move_via_points.launch.py