Bumpybot Simulation in Gazebo

Launch Robot in Gazebo

In order to spawn BumpyBot in turtlebot3 house, run the following command:

roslaunch trikey_gazebo turtle_house.launch

Launch Arguments

• <arg name="teleop" default="true"> : Launches keyboard teleoperation node
• <arg name="roller" default="false" : Spawns the robot with rollers. Note: Omnidirectional sliding movement is not yet implemented. The robot uses planar_move plugin instead.
• <arg name="vel_topic" default="/trikey/base_controller/cmd_vel" /> : cmd_vel topic name
• <arg name="icp_odom" default="false" /> : Use ICP odometry source. It cannot be used with planar_move plugin.

Robot Navigation in Gazebo

roslaunch trikey_gazebo gazebo_slam_stack.launch

This launches following:

• trikey_gazebo turtle_house.launch
• bumpybot_navigation slam_toolbox.launch
• bumpybot_navigation move_base.launch
• Rviz

The robot spawns in the turtlebot3 house and starts SLAM. You can set a target pose in Rviz using Move Goal to both explored and unexlplored areas. The robot will navigate to the target pose while avoiding obstacles.