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Navigate TurtleBot3
Yannick Goumaz edited this page Apr 4, 2023
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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.
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
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.
- The Ros2Supervisor Node
- Using URDF or Xacro
- Import your URDF Robot in Webots
- Refresh or Add URDF a Robot in a Running Simulation
- Wheeled robots
- Robotic arms
- Automobiles
- Drones