opcode-open-spring-fest/turtlebot-navigation

A turtlebot which is a differential drive bot equipped with LiDAR, wheel encoders and imu to collect information of surrounding. This bot can be used to navigate autonomously through a given area once map is made of that world. In Gazebo different types of worlds can be made to navigate and simulate autonoumous navigation.

TurtleBot Navigation

A turtlebot which is a differential drive bot equipped with LiDAR, wheel encoders and imu to collect information of surrounding. This bot can be used to navigate autonomously through a given area once map is made of that world.

In Gazebo different types of worlds can be made to navigate and simulate autonoumous navigation.

Prerequisites:

• Ubuntu v22.04
  • Download here
    • Ubuntu 22.04 LTS
    • ROS Humble
    • Node js v18+

Setup for local system

• Clone this repo in your system
  • git clone https://github.com/OPCODE-Open-Spring-Fest/DevHub.git
• Navigate to the project directory
  • cd turtlebot-navigation/
• Now install the node modules
  • npm install
• Navigate to ros workspace directory turtle_ws
  • cd turtle_ws/
• Now build the workspace using the following command
  • colcon build
  • Please check all the dependencies written in package.xml file present in src->turtlebot3_fake_node, src->turtlebot3_gazebo and src->simulations. If anyone of them is not installed they can cause error while setup.

Learning Resources

• Navigation Stack
  • Nav2 Stack
• Mapping
  • SLAM
• Go to .github --> Contributor_Guide --> Project_Tour for more information in this project
• You can ask your doubts in the discord server OSF in the discuss-hub channel

turtlebot-navigation's Issues

map and navigation way points

So, what is it about?

sir I want the map outline or map files and way point according to issue

Code of Conduct

• I agree to follow this project's Code of Conduct

Implementing Turtlebot Navigation in Custom World

So, what is it about?

In the turtle_ws/src/turtlebot3_gazebo/worlds directory, we have a custom world file named maze.world. The objective is to develop a Python script, maze.py, in scripts folder(make a folder named scripts) within turtle_ws/src, to facilitate Turtlebot navigation within this maze-like environment. The Turtlebot should navigate from the initial coordinate (0,3) to the destination coordinate (3,-3) while effectively avoiding obstacles. You are free to use Waypoint Navigation or Go To Pose Navigation.

Code of Conduct

• I agree to follow this project's Code of Conduct

[Bug]: Failed colcon build

Description

Failed colcon build

Cmake is not able to find configuration files provided by "turtlebot3_msg" with following names:

• turtlebot3_msgsConfig.cmake
• turtlebot3_msgs-config.cmake

Note: Those who had already setup turtlebot3-msgs may not encounter this issue, which is not mentioned in the readme.md

Error message

Severity

Medium

Steps to reproduce

1. colcon build

Environment

OS: Ubuntu

Screenshots

No response

Relevant log output

No response

Code of Conduct

• I agree to follow this project's Code of Conduct

[Feature]: Following waypoints to get to a desired location

So, what is it about?

A new gazebo world has to be made when assigned an image of that world would be shared. A number of points along with the desired location would be given. You are required to move through all the points avoiding the obstacles in pathway (obstacles may be mobile as well).

Code of Conduct

• I agree to follow this project's Code of Conduct