Turtlebot3 Autonomous Navigation using ROS

Setup

Install ROS Noetic

• Follow instructions at noetic/Installation/Ubuntu - ROS Wiki
• Install Python catkin tools: sudo apt-get install -y python3-catkin-tools

Install packages for Gazebo and Turtlebot

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
sudo apt install ros-noetic-turtlebot3-msgs
sudo apt install ros-noetic-turtlebot3

Create catkin workspace

# add ROS noetic setup to bashrc
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

# create workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin build

# add workspace setup to bashrc
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

# export TURTLEBOT3_MODEL so that you don't need to do it again and again
echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
source ~/.bashrc

Clone turtlebot3 simulations package repository and build packages

cd ~/catkin_ws/src

# We need only the latest commit
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git --depth=1

# Build the packages
catkin build
source ~/.bashrc

Clone current repository and build packages

cd ~/catkin_ws/src
git clone -b master https://github.com/gaurishg/turtlebot3_autonav.git --depth=1
catkin build
source ~/.bashrc

Run simulations

Turtlebot3 World

roslaunch turtlebot3_autonav turtlebot3_world.launch

Turtlebot3 House

roslaunch turtlebot3_autonav turtlebot3_house.launch