AntoSave / turtlebot4

Group 9's custom turtlebot4 repository

This is a fork of the turtlebot4 repository. We forked it to add some custom functionalities to the original codebase, namely:

• We added a 3D world of the DIEM to simulate the robot's navigation in Gazebo;
• We added a custom launch file to launch the robot in Gazebo without the dock;
• We added a new 2D map of the DIEM without the door stops;

Launch the simulation with the DIEM world

ros2 launch diem_gazebo turtlebot4_ignition_no_dock.launch.py rviz:=true nav2:=true localization:=true map:=./src/turtlebot4/diem_turtlebot_ws/src/map/diem_map.yaml world:=diem_map params_file:=src/mobile-robots-project-work/autonomous_navigation_challenge_2024/autonomous_navigation_challenge_2024/config/nav2.yaml

Launch the localization stack with the new map

ros2 launch turtlebot4_navigation localization.launch.py map:=diem_map_clean.yaml