Module #7: Autonomous TB3 SLAM Nav2

Module # 5 Overview :

• package : drive_tb3
• Understand how Nav2 and slam toolbox work together to perform
  • Autonomous navigation
  • Waypoint Naviation

Dependencies

• Ubuntu 22.04 LTS
• Vscode
• ROS2 Humble

Running Project

• Create you own workspace ( if not done already )

  mkdir -p ~/ros2_my_ws/src
  cd ~/ros2_my_ws/src
  

• Clone repository ( if not done already )

  https://github.com/Robotisim/robotics_software_engineer.git
  

• Install dependencies

  cd ~/ros2_my_ws/src/robotics_software_engineer
  vcs import < dependencies.repos
  cd ~/ros2_my_ws/
  rosdep install --from-paths src --ignore-src -r -y
  

• Build your workspace

  cd ~/ros2_my_ws/
  colcon build && source ~/ros2_my_ws/install/setup.bash
  

• Export TurtleBot model

  export TURTLEBOT3_MODEL=waffle_pi
  

• Run Rviz and Astar Search Algorithm

   ros2 launch  path_planning astart.launch.py
  

• Perform pose estimation first ( down right) - then give a goal