rnitin / tb3_control

ROS package for waypoint navigation on TurtleBot3

tb3_control

ROS package to control TurtleBot 3 mobile robot and its Gazebo simulation.

1. Environment

• Ubuntu 20.04, ROS Noetic Ninjemys

2. Package Documentation

TurtleBot 3
https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/

3. Package Installation

• TurtleBot 3
  1.Follow the Quick Start guide from the ROBOTIS website. https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/

• TurtleBot 3 on Gazebo
  Follow the simulation instructions from the ROBOTIS website.

• tb3_control

  1. Bring tb3_control package into workspace
     cd ~/catkin_ws/src
git clone https://github.com/rnitin/tb3_control.git
  2. Build catkin workspace directory
     cd ~/catkin_ws catkin_make
  3. Install python dependencies pip install -r requirements.txt

4. Executing ROS Packages

• Waypoint Navigation on TurtleBot 3
  Package: tb3_control

  1. Start the TurtleBot3
  2. Execute the python script rosrun tb3_control waypoint.py

• Waypoint Navigation on Gazebo 3
  Package: tb3_control

  1. Start the TurtleBot3 Gazebo simulation
  2. Execute the python script rosrun tb3_control waypoint.py