Module #7: Autonomous TB3 SLAM Nav2

Module # 7 Overview :

• package : drive_tb3 and autonomous_tb3
• Understand how Nav2 and slam toolbox work together to perform
  • Autonomous navigation
  • Waypoint Naviation

Dependencies

• Ubuntu 22.04 LTS
• Vscode
• ROS2 Humble

Running Project

• Create you own workspace ( if not done already )

  mkdir -p ~/ros2_my_ws/src
  cd ~/ros2_my_ws/src
  

• Clone repository ( if not done already )

  https://github.com/Robotisim/robotics_software_engineer.git
  

• Install dependencies

  cd ~/ros2_my_ws/src/robotics_software_engineer
  vcs import < dependencies.repos
  cd ~/ros2_my_ws/
  rosdep install --from-paths src --ignore-src -r -y
  

• Build your workspace

  cd ~/ros2_my_ws/
  colcon build && source ~/ros2_my_ws/install/setup.bash
  

• Export TurtleBot model

  export TURTLEBOT3_MODEL=waffle_pi
  

• To spawn maze and start mapping and drive to produce map

   ros2 launch  drive_tb3_m7 m7_a_maze_mapping.launch.py 
   ros2 run teleop_twist_keyboard teleop_twist_keyboard # on another terminal
  

• Provide Starting point on the map on Rviz by selecting pose estimate marker then give Nav2 goal thorugh marker

   ros2 launch  drive_tb3_m7 m7_b_maze_navigation.launch.py