Turtlebot3_ROS_2Dplanning

This repo contains a simulation example of Turtlebot3 motion planning in environment with moving obstacles.

Get ready

The setup is tested with Ubuntu 18.04. (Windows user can setup an Ubuntu environmnet by following these instructions.)To install dependent packages, folloe the instructions in

1. Setup turtlebot3 on PC

   # Install ROS (melodic for Ubuntu 18.04)
   $ sudo apt update
   $ sudo apt upgrade
   $ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_melodic.sh
   $ chmod 755 ./install_ros_melodic.sh 
   $ bash ./install_ros_melodic.sh
   
   # Install Dependent ROS Packages
   $ sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy \
     ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc \
     ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan \
     ros-melodic-rosserial-arduino ros-melodic-rosserial-python \
     ros-melodic-rosserial-server ros-melodic-rosserial-client \
     ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server \
     ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro \
     ros-melodic-compressed-image-transport ros-melodic-rqt* \
     ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers
     
   # Install TurtleBot3 via Debian Packages
   $ sudo apt-get install ros-melodic-dynamixel-sdk
   $ sudo apt-get install ros-melodic-turtlebot3-msgs
   $ sudo apt-get install ros-melodic-turtlebot3
   
   # Additional setup
   echo 'export TURTLEBOT3_MODEL=waffle' >> ~/.bashrc 
   

2. Install Simulation Package.

   $ cd ~/<your_dir>/catkin_ws/src/
   $ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
   $ cd ~/<your_dir>/catkin_ws && catkin_make
   

   Now you can test the installation with command: $ roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
3. Clone this repository in your <your_dir>/catkin_ws.

   $ cd ~/<your_dir>/catkin_ws && git clone https://github.com/JessicaLeu-code/Turtlebot3_ROS_2Dplanning.git
   

4. Make modifications This Demo is based on old version of turtlebot3 open-source code. Therefore, some addition files are needed to run the demo.
   • remove turtlebot3_simulations/turtlebot3_gazebo:

     $ cd ~/<your_dir>/catkin_ws/src/urtlebot3_simulations && sudo rm -r turtlebot3_gazebo
     

   • Download turtlebot3 dependencies:

     $ cd ~/<your_dir>/catkin_ws/src && clone https://github.com/ROBOTIS-GIT/turtlebot3.git
     

5. Install packages

• Install ROS related packages:
  • $ sudo apt-get install ros-melodic-driver-base
  • $ sudo apt-get install ros-melodic-pol-ros
  • $ sudo apt-get install ros-melodic-tf2-sensor-msg
• Install libcurses5-dev$ sudo apt-get install libcurses5-dev
• Install (update) basic packages: $ python -m pip install --user numpy scipy matplotlib
• Install pyclipper: $ pip install pyclipper (you may need $ pip install --upgrade setuptools if am error occures)
• Install pykalman: $ pip install pykalman
• Install cvxopt: $ pip install cvxopt

6. Build the packages: $ cd ~<your_dir>\catkin_ws && catkin_make

Run the example

Open a terminal, copy and run the following command.

$ roslaunch lidar_track turtlebot3_lidar_track_mode.launch

To change the goal of the robot, run

$ roslaunch demo_teleop turtlebot3_teleop_key.launch