evshary / BT_ros1

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

2. Run Gazebo Emulator

export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_gazebo turtlebot3_world.launch

3. Open another terminal and run teleop

export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

4. Open another terminal and Run SLAM

export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_slam turtlebot3_slam.launch

5. Open another terminal and Save map

rosrun map_server map_saver -f ~/sim_map

6. 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

2. You can modify bt_test.xml for behavior tree.
3. Start to run

source devel/local_setup.bash
rosrun bt_sample node _file:=absolute_path/bt_test.xml