TIRT-Gazebo-Simple-ROS2

 
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The "tirt_gazebo_ros2" ROS2 package is crafted with the objective of facilitating uncomplicated simulation validation for the TIRT Intelligent Service Competition - Food Runner Robots.

Install and Build

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

   cd ~/dev_ws/src
   

2. Clone tirt_gazebo_ros2 package for github :

   sudo apt install git
   

   git clone https://github.com/wenjiu2001/TIRT-Gazebo-Simple-ROS2.git tirt_gazebo_ros2
   

3. Build tirt_gazebo_ros2 package :

   sudo apt install python3-colcon-common-extensions
   

   cd ~/dev_ws && colcon build --symlink-install
   

4. Package environment setup :

   source ./install/setup.bash
   

How to Use

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 :

   ros2 launch tirt_gazebo_ros2 turtlebot3_tirt.launch.py