Navigate TurtleBot3

Before proceeding, make sure you have the webots_ros2 package installed — Getting Started.

In this tutorial, we want to show you how to navigate TurtleBot3 Burger in Webots simulation. You will see that Webots uses a standard ROS2 interface that can be used with the TurtleBot3 Navigation2 package without modifications.

Install turtlebot3_navigation2 Package for ROS2

sudo apt install ros-${ROS_DISTRO}-turtlebot3-navigation2

or compile the package from source

To compile the turtlebot3_navigation2 package do the following:

source /opt/ros/${ROS_DISTRO}/local_setup.bash

# Retrieve the sources
cd /path/to/ros2_ws
git clone -b ${ROS_DISTRO}-devel https://github.com/ROBOTIS-GIT/turtlebot3.git src/turtlebot3

# Check dependencies
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}

# Building packages
colcon build --packages-up-to turtlebot3_navigation2
source install/local_setup.bash

Run Webots and Navigation2

Once the turtlebot3_navigation2 package is ready you can launch a Webots simulation:

ros2 launch webots_ros2_turtlebot robot_launch.py rviz:=true nav:=true

The initial pose of the robot is automatically set through the parameters file.

Now you can set a goal for the Turtlebot using the Navigation2 Goal button in RViz.

On the official TurtleBot3 website you can find more information about navigation.