To simulate a TurtleBot3 in a Gazebo environment, create a map of the world using SLAM, and then use the ROS 2 Navigation Stack (Nav2) for autonomous point-to-point navigation.
My approach was divided into two main phases:
- I launched the
turtlebot3_worldin Gazebo. - I used the
slam_toolboxpackage to begin the SLAM process. - I manually drove the robot throughout the entire environment using
teleop_keyto build a complete 2D occupancy grid map. - Once the map was complete, I saved it to
.pgmand.yamlfiles using thenav2_map_saverutility.
- With the saved map, I launched the
nav2_bringuppackage, providing my custom map as an argument. - In RViz, I first localized the robot on the map using the "2D Pose Estimate" tool.
- I then sent autonomous navigation commands by setting a "Nav2 Goal", which the robot successfully navigated to while avoiding obstacles.