This repository contains the code to produce a Gazebo Classic Simulation of a Turtlebot3 (waffle) robot (designed by Robotis) that navigates its way through a simple maze autonomously.
This repository was built while following the learnings and instructions of the Udemy Course ROS2 Autonomous Driving and SLAM using NAV2 with TurtleBot3 created by Muhammad Luqman.
The software tools mainly used in building this project are :
- Python3 Interpreter
- Basic ROS2 Framework
- Gazebo Classic Simulator
- turtlebot3_gazebo ROS2 package
- slam_toolbox ROS2 package
- Navigation2 Stack
Operating System :
- Ubuntu (you can use the latest version available)
In order to deploy this project successfully, all the above listed softwares must be installed in your Ubuntu OS.
Originally, this project was built as an ament_python type ROS2 package in the above mentioned Course. However, in this repository, I have built the project as an ament_cmake type ROS2 package.
To deploy this project, please follow the below mentioned steps.
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Create a new folder at a suitable space in your Ubuntu OS. You can name the folder anything you want. But for the sake of this demonstration, I am naming it as Cloned Repo
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Open a new terminal inside the folder.
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Clone this repository inside the folder by running the following terminal command.
git clone https://github.com/Preetamk97/Autonomous-Maze-Solving-Turtlebot3-Simulation.git
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This will create a new folder named Autonomous-Maze-Solving-Turtlebot3-Simulation inside the Cloned Repo directory.
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Go inside the Autonomous-Maze-Solving-Turtlebot3-Simulation folder through the previously opened terminal.
cd Autonomous-Maze-Solving-Turtlebot3-Simulation/ -
Next, we need to build this project. So run the following command from the same terminal.
colcon build
This will generate 3 (three) new folders inside the Autonomous Maze Solving Turtlebot3 Simulation folder namely - build, install and log.
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Close the previous terminal.
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Next, finally we can deploy the project.
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Open a new terminal inside the Autonomous Maze Solving Turtlebot3 Simulation directory and run the following commands:
source install/setup.bash ros2 launch autonomous_tb3 tb3_maze_navigation.launch.pyThis will open a Gazebo Classic Simulator Window (with the simulated maze world and a Turtlebot3 robot - inside of it) AND a RViz2 Window (where you can see a 2D map of the maze world).
Use Mouse Scroll Wheel to Zoom IN/Zoom OUT in both the Gazebo and RViz2 enviroments.
Use left mouse button (to PAN) and Mouse Scroll Button (to ROTATE) -- for adjusting the position and view of the maze world in the Gazebo environment - as per your convenience.
Use left mouse button (to ROTATE) and Mouse Scroll Button (to PAN) -- for adjusting the position and view of the 2D maze map in the RViz2 environment - a per your convenience.
Also, before proceeding to the next step, it is recomended to keep both the Gazebo and Rviz2 windows opened side by side, so that you that you can see see what's happening in both the windows at the same time.
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Open a second parallel terminal inside the Autonomous Maze Solving Turtlebot3 Simulation directory (while keeping the previous terminal alive) and run the following command from it :
source install/setup.bash ros2 run autonomous_tb3 maze_solver.py
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Once you have followed all the mentioned steps inside the Deployment section, the following simulation output can be seen in the Gazebo Classic Simulator window.
You can also see the robot following the same trajectory in the 2D maze map of the RViz2 environment simultaneously. I could not screen record the RViz2 simulation to show you - due to my computer hardware limitations.