turtlebot_explorer

This package contains a very small example of autonomous exploration for TurtleBot3 in ROS 2. The Explorer node publishes random velocity commands so the robot wanders around a Gazebo world.

Folder Structure

.
├── launch/                 # Launch files
├── resource/               # ament resource index
├── src/
│   └── turtlebot_explorer/
│       ├── __init__.py
│       └── explorer_node.py
├── package.xml
└── setup.py

Building

Create a ROS 2 workspace and clone this repository into the src folder. Then build with colcon:

cd ~/ros2_ws
colcon build --packages-select turtlebot_explorer
source install/setup.bash

Ensure that the TurtleBot3 Gazebo packages are installed:

sudo apt install ros-humble-turtlebot3-gazebo

Running

Launch Gazebo with the exploration node:

ros2 launch turtlebot_explorer explore.launch.py

The robot will spawn in the default TurtleBot3 world and start moving randomly, demonstrating a very simple exploration behavior.