ROS2 Autonomous Driving and Path Planning SLAM with TurtleBot3 using NAV2

About this Repository

This is repository for the course ROS2 Autonomous Driving and SLAM using NAV2 with TurtleBot3 availble at Udemy . Complete source code is open sourced.

• [Get course Here]

Using this Repository

• Move into your workspace/src folder

cd path/to/ros2_ws/src/
##e.g cd ~/ros2_ws/src/

• Clone the repository in your workspace

git clone https://github.com/noshluk2/ROS2-Autonomous-Driving-and-Navigation-SLAM-with-TurtleBot3

• Perform make and build through colcon

cd /path/to/workspace_root/
##e.g ~/ros2_ws/
colcon build

• Source your Workspace in any terminal you open to Run files from this workspace ( which is a basic thing of ROS )

source /path/to/ros2_ws/install/setup.bash

• (Optional for Power USERs only) Add source to this workspace into bash file

echo "source /path/to/ros2_ws/install/setup.bash" >> ~/.bashrc

Course Workflow

• Main robot we will be using is Turtle Bot 3 by Robotis . Package from official GitHub repository is going to obtained and then we will start to analyze how robot is launched into simulations like Rviz and Gazebo .
• After Going through multiple launch files we will create a custom launch file to bring the robot in to simulations . SLAM using Gmapping node will be executed for our custom created world containing MAZE .
• Then we will perform last project of Autonomous Hotel Waiter in which we are going to utilize NAV2 stack with simple GUI to send robot to different tables.

Features

• Turtlebot3 World Navigation using NAV2
  • 
• Maze Solving using Commander API and NAV2
  • 
• Autonomous Waiter with GUI
  • 

Pre-Course Requirments

Software Based

• Ubuntu 22.04 (LTS)
• ROS2 - Humble

Link to the Course

Below is a discounted coupon for people who want to take the course in which more explaination to this code has been added

[Get course Here]

Instructors

Muhammad Luqman (ROS2 Simulation and Control Systems) - Profile Link

License

Distributed under the GNU-GPL License. See LICENSE for more information.