Turtlebot3 in Intelligent Robotics LAB, NCAI, NUST

Getting Started:

Prerequisites:

The build is only yet tested on ROS melodic but it may work on other distributions as well.

Install:

Make a catkin workspace:

mkdir -p ~/catkin_ws/src

Clone the repository to your workspace:

cd ~/catkin_ws/src
git clone https://github.com/a4aleem/irl_2d_tb3 

Install project dependencies using rosdep:

cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y

Build and source the workspace:

cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

Launch:

roslaunch irl_2d_tb3_gazebo turtlebot3_world.launch

Turtlebot3 based SLAM and NAV:

Terminal#1

cd catkin_ws/
source devel/setup.bash
roslaunch irl_2d_tb3_gazebo turtlebot3_irllab.launch 

Terminal#2

cd catkin_ws/
source devel/setup.bash
roslaunch irl_2d_tb3_navigation turtlebot3_map_nav.launch 

Frontier based Exploration on Turtlebot3

TERMINAL#1

cd catkin_ws/
source devel/setup.bash
roslaunch irl_2d_tb3_gazebo turtlebot3_irllab.launch

TERMINAL#2

cd catkin_ws/
source devel/setup.bash
roslaunch irl_2d_tb3_autonomous_exploration turtlebot3_exploration.launch 

Multi Turtlebot3 Navigation

TERMINAL#1

cd catkin_ws/
rsource devel/setup.bash
roslaunch irl_2d_tb3_gazebo multi_turtlebot3_irl.launch 

TERMINAL#2

cd catkin_ws/
source devel/setup.bash
roslaunch irl_2d_tb3_navigation multi_turtlebot3_irl_nav.launch