Turtlebot3 Navigations

Turtlebot3 package for autonomous navigation that uses the namespace tb3.

Tested on ROS Melodic Gazebo.

Dealing with namespaces

When using namespaces and/or multiple robots, separate yaml files need to be created for each robot (that uses move_base) to reflect the new namespaced topics. These are (some of) the locations which need to be updated

• global_costmap_params
• local_costmap_params

To enable manual navigation via RVIZ, ensure the topics for the following are in the right namespace in your rviz config file:

• Visualization Manager :

  • move_base_simple in Tools -> rviz/SetGoal
  • move_base/NavfnROS/plan in Display -> rviz/Path

Autonomous Mapping

The explore_lite launch file performs autonomous mapping of closed spaces. It uses the explore_lite package, which can be installed easily using

sudo apt-get install ros-<DISTRO>-explore-lite

or from source(which is what I did) as follows

cd catkin_ws
git clone --single-branch --branch <ROS_distro>-devel https://github.com/hrnr/m-explore.git

This works, but is not perfect; could use more fine tuning to work in complex worlds.

Localization

Use the global_localization and nomotion_update/request_nomotion_update services for localization. Refer to this tutorial for more info