ROSMazeRunner

Launching Gazebo, RVIZ and Navigation Stack without prior mapping:

Either through the launch file I produced OR :

1. export TURTLEBOT3_MODEL=burger
2. source install/local_setup.bash
3. ros2 launch mark_1 mark1_launch.py
4. ros2 run rviz2 rviz2 -d $(ros2 pkg prefix nav2_bringup)/share/nav2_bringup/rviz/nav2_default_view.rviz

Archives:

MUST READ

1. https://navigation.ros.org/commander_api/index.html#simple-commander-api
2. https://navigation.ros.org/configuration/packages/configuring-amcl.html

Launch File:

1. Ensure that setup.py is properly setup with the naming of the launch folder and params
2. Ensure that source install/local_setup.bash is executed before launching
3. Ensure that no nodes are active "ros2 node list". If not, kill them or restart (experience)
4. Main focus now is tuning in of navigation parameters AND
5. Creating an algorithm that would increment/decrement, store waypoints(to go back if stuck) until robot exits the maze

ros2 launch <your_package_name> <your_launch_filename>.py

Issue Remedy Archives:

Unknown Parameter to be set to true for costmaps with voxel or obstacle layer. Planner prefers free space to chart a path. without doing the necessary, unknown areas in costmaps are treated as free spaces. Hence, set it for both global and local costmaps

1. https://answers.ros.org/question/215538/allow_unknown-parameter-ignored/

AMCL guarantees no change to map but SLAM does - can we incorporate AMCL instead? 2. https://answers.ros.org/question/246747/difference-between-localisation-with-amcl-and-slam/

No local costmap found when launching rviz. Use the modified mark1_params.yaml file. 3. https://answers.ros.org/question/366732/no-local-costmap/

Critical directories:

/opt/ros/humble/share/slam_toolbox