A documentation of the steps I took to run the turtlebot3 navigation simulation
This is a continutaiton of the steps i documented in the slam simulation repository
I will be executing the steps documented at https://emanual.robotis.com/docs/en/platform/turtlebot3/nav_simulation/
I'm starting things off by launching the simulation world
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
Then run the navigation node
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml
I used the '2D Pose Estimate' functionality a couple of times to manually input the robot's starting position and orientation until what the LDS sensor picked up lined up with the map
I then ran the keyboard teleoperation node and controlled the robot for a bit, so it has a more precise understanding of its environment and the obstacles around it
$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
I will simply click on the '2D Nav Goal' decide the goal position and orientation and the robot will autonomously reach the goal state