Turtlebot3 Navigation and SLAM

Table of Contents

• Description
• Getting Started
• Usage and Configuration Instructions

Description

The goal is to use the turtlebot to map an environment and then navigate within the map using slam_toolbox.
The package contain 4 launchfiles and 1 node:

explore - A node that causes the robot to explore the environment autonomously while mapping the world.

start_slam.launch - Starts the turtlebot3 on gazebo (in the house environment), and drives the turtlebot3 using turtlebot3_teleop.py node throughout its workspace, while running slam_toolbox. After exploring the map, you can use the mapserver to save the map file.

nav_stack.launch - Uses amcl to localize your robot and the ROS navigation stack to allow the robot to move using the map created in the previous step.

slam_stack.launch - Runs all of the nav-stack.launch components, except instead of starting amcl and a pre-built map uses slam_toolbox to create the map while navigating.

explore.launch - Lets the robot use the explore.py node and slam_toolbox to autonomously map the environment.

Getting Started

Create a workspace, clone the repo, and build the workspace:

mkdir -p ws/src && cd ws/src
git clone https://github.com/YaelBenShalom/Turtlebot3-Navigation-with-SLAM.git
cd ../..
catkin_make
source devel/setup.bash 

Usage and Configuration Instructions

1. To launch the start_slam.launch launchfile on Gazebo and Rviz simulation, run:
   roslaunch Turtlebot3-Navigation-with-SLAM start_slam.launch.

   • Explore the environment using the 2D pose estimation and 2D navigation goals in Rviz.
   • To save the explored map, run rosrun map_server map_saver -f maps/map from another terminal while the start_slam.launch launchfile is still running.

2. To launch the nav_stack.launch launchfile on Gazebo and Rviz simulation, run:
   roslaunch Turtlebot3-Navigation-with-SLAM nav_stack.launch.

   • Move the robot by setting 2D navigation goals in Rviz.

   

3. To launch the slam_stack.launch launchfile on Gazebo and Rviz simulation, run:
   roslaunch Turtlebot3-Navigation-with-SLAM slam_stack.launch.

   • Explore the space by setting 2D navigation goals manually in rviz.

   

4. To launch the explore.launch launchfile on Gazebo and Rviz simulation, run:
   roslaunch Turtlebot3-Navigation-with-SLAM explore.launch.

   • Explore the space by randomly picking 2D navigation goals automatically in rviz.

   

   (This video speed is X10)

   • The generated map: