[Planning] ROS Navigation: Tutorial(Ubuntu 20.04, ros noetic, gazebo, Turtlebot3)

💡 본 문서는 'ROS Navigation: Tutorial(Ubuntu 20.04, ros noetic, Turtlebot3)'에 대해 정리해놓은 글입니다.

1. Environment Setup

1) Bringup

$ sudo apt update
$ sudo apt upgrade
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_noetic.sh
$ chmod 755 ./install_ros_noetic.sh 
$ bash ./install_ros_noetic.sh

$ sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy \
  ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc \
  ros-noetic-rgbd-launch ros-noetic-rosserial-arduino \
  ros-noetic-rosserial-python ros-noetic-rosserial-client \
  ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server \
  ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro \
  ros-noetic-compressed-image-transport ros-noetic-rqt* ros-noetic-rviz \
  ros-noetic-gmapping ros-noetic-navigation ros-noetic-interactive-markers

$ sudo apt install ros-noetic-dynamixel-sdk ros-noetic-turtlebot3-msgs ros-noetic-turtlebot3​

2) Install Simulation Package

$ cd ~/catkin_ws/src/
$ git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ cd ~/catkin_ws && catkin_make

2. SLAM

turtlebot model setting

$ nano ~/.bashrc
...
export TURTLEBOT3_MODEL=waffle
$ source ~/.bashrc

 

Run roscore from Remote PC.

$ roscore​

Simulation environments are prepared for TurtleBot3. 

$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

launch the SLAM node. The Gmapping is used as a default SLAM method. 

$ roslaunch turtlebot3_slam turtlebot3_slam.launch

Open a new terminal and run the teleoperation node from the Remote PC.

$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

 Control Your TurtleBot3!
 ---------------------------
 Moving around:
        w
   a    s    d
        x

 w/x : increase/decrease linear velocity
 a/d : increase/decrease angular velocity
 space key, s : force stop

 CTRL-C to quit

Launch the map_saver node in the map_server package to create map files.

$ rosrun map_server map_saver -f ~/map/turtlebot_20230925

3. Navigation

Run roscore from Remote PC.

$ roscore​

Simulation environments are prepared for TurtleBot3. 

$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

Launch the Navigation using previous mapping file(~/map/turtlebot_20230925)

$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map/turtlebot_20230925.yaml

Estimate Initial Pose

1. Click the 2D Pose Estimate button in the RViz menu.
2. Click on the map where the actual robot is located and drag the large green arrow toward the direction where the robot is facing.
3. Repeat step 1 and 2 until the LDS sensor data is overlayed on the saved map.

Launch keyboard teleoperation node to precisely locate the robot on the map.

$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

참고

• [Robotis] Turtlebot e-manual - pc-setup: https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/#pc-setup
• [Robotis] Turtlebot e-manual - gazebo simulation: https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#gazebo-simulation
• [Robotis] Turtlebot e-manual - slam: https://emanual.robotis.com/docs/en/platform/turtlebot3/slam/#run-slam-node
• [Robotis] Turtlebot e-manual - navigation: https://emanual.robotis.com/docs/en/platform/turtlebot3/navigation/#run-navigation-nodes