Simple-Navigation-Goals

 
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"simple_nav_goals" constitutes a ROS package for straightforward task navigation.

Requirements

• Turtlebot3

  sudo apt-get install ros-noetic-turtlebot3*
  

• DWA Local Planner

  sudo apt-get install ros-noetic-dwa-local-planner
  

Install and Build

1. Navigating to the "src" directory within your catkin workspace :

   cd ~/catkin_ws/src
   

2. Clone simple_nav_goals package for github :

   • Programming languages

     • C++

       git clone https://github.com/wenjiu2001/Simple-Navigation-Goals.git simple_nav_goals
       

     • Python

       git clone -b python-devel https://github.com/wenjiu2001/Simple-Navigation-Goals.git simple_nav_goals
       

3. Build simple_nav_goals package :

   cd ~/catkin_ws && catkin_make
   

4. Package environment setup :

   source ./devel/setup.sh
   

How to Use

Adjustments can be made by modifying the following parameters:

Parameter name	Data Type	Detail
model	string	Set the Turtlebot3 robot model. default: null
map_file		Set the map and parameters for robot navigation. default: $(find simple_nav_goals)/map/map.yaml
open_rviz	bool	Set whether to initiate RViz. default: true
move_forward_only	bool	Set the robot to move exclusively forward. default: false
point		Set the various waypoints for robot navigation. default: $(find simple_nav_goals)/param/point.yaml

1. Add permanent workspace environment variables :

   • Turtlebot3 Model

     • Burger

       echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
       

     • Waffle

       echo "export TURTLEBOT3_MODEL=waffle" >> ~/.bashrc
       

     • Waffle Pi

       echo "export TURTLEBOT3_MODEL=waffle_pi" >> ~/.bashrc
       

   • Reload the .bashrc file

     source ~/.bashrc
     

2. Launch simulation world and task navigation :

   Note: Execute these two commands separately in different terminal windows.

   roslaunch tirt_gazebo turtlebot3_tirt.launch
   

   roslaunch simple_nav_goals simple_nav_goals.launch
   

References

• Ubuntu install of ROS Noetic
• Install Gazebo using Ubuntu packages
• TurtleBot3 Simulation
• SendingSimpleGoals