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udm_dave_square_move's Introduction

udm_dave_square_move

This repo contains Part 3 of CFDL labs in MIAR on using a Turtlebot3 WafflePi for mapping and navigation. In this repo, the turtlebot3 is made to draw a square in rviz. Note that this part is run in simulation and not directly on the turtlebot3.

Step 1

Ensure the following packages are installed. Note that not all of them are required.

$ cd ~/catkin_ws/src
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_applications.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs.git
$ cd .. && catkin_make
$ source devel/setup.bash

Step 2

Download and install the git repo.

$ cd ~/catkin_ws/src
$ git clone https://github.com/azezezaaa/udm_dave_square_move.git
$ cd ~/catkin_ws/
$ catkin_make && source devel/setup.bash
$ export TURTLEBOT3_MODEL=waffle_pi

Step 3

Terminal A

$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

Terminal B

Note that map.yaml and map.pgm must be placed in $HOME directory.

$ roslaunch udm_dave_square_move turtlebot3_navigation.launch map_file:=$HOME/map.yaml

Terminal C

$ rosrun udm_dave_square_move movebase_square.py

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