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