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bt_ros1's Introduction

Before usage

  1. You need to install ros1 and Gazebo first.
sudo apt install ros-melodic-desktop-full ros-melodic-turtlebot3 ros-melodic-turtlebot3-gazebo
  1. Run Gazebo Emulator
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_gazebo turtlebot3_world.launch
  1. Open another terminal and run teleop
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
  1. Open another terminal and Run SLAM
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_slam turtlebot3_slam.launch
  1. Open another terminal and Save map
rosrun map_server map_saver -f ~/sim_map
  1. Open another terminal and Run navigation
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/sim_map.yaml

Usage

  1. Download and build the code
cd BT_ros1
catkin_make
  1. You can modify bt_test.xml for behavior tree.
  2. Start to run
source devel/local_setup.bash
rosrun bt_sample node _file:=absolute_path/bt_test.xml

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