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Table of contents

Tutorials

VS Code

Configuring markdown autoformat in VS Code

  1. Install the Markdown All in One extension
    1. Press Ctrl+Shift+X to open the extensions tab
    2. Search for Markdown All in One and install it
  2. Configure VS Code settings
    1. Press Ctrl+Comma to open the settings
    2. Search for format on save and check the box
    3. Search for indentation size and select the option inherit
    4. Search for toc.levels and change the value to 2..6

Gazebo

Setting NAV2 min distance to walls

  • edit ~/turtlebot3_ws/src/turtlebot3/turtlebot3/turtlebot3_navigation2/param/burger.yaml , replace robot_radius: 0.1 with robot_radius: 0.3

SLAM in the Gazebo simulation

(link to the tutorial)

  1. Launch the simulation world 
    ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
  2. Run SLAM node 
    ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True
  3. Control the robot 
    ros2 run turtlebot3_teleop teleop_keyboard

Autonomous exploration in the Gazebo simulator

Run Gazebo, Nav2, and the exploration

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True
ros2 launch slam_toolbox online_async_launch.py
ros2 launch explore_lite explore.launch.py

Physical robot

Nav2 and SLAM on the physical robot

(link to the tutorial)

  1. [Raspi] Run turtlebot3_bringup 
    ros2 launch turtlebot3_bringup robot.launch.py
  2. [Remote] Run Nav2 and SLAM 
    ros2 launch turtlebot3_navigation2 navigation2.launch.py
ros2 launch slam_toolbox online_async_launch.py
  3. [Remote] Control the robot 
    ros2 run turtlebot3_teleop teleop_keyboard

Getting the output from the Raspberry Pi camera

  1. [Raspi] Run the camera node (in a new terminal) 
    cd ~/ros2_ws
. install/local_setup.bash
ros2 run v4l2_camera v4l2_camera_node
    The last command gives errors because apparently, the Raspberry Pi camera doesn't have all the configuration settings a regular camera would have. The errors are probably safe to ignore.
  2. [Remote] View the output of the camera
    1. Run the following command 
      ros2 run rqt_image_view rqt_image_view
    2. When rqt has opened, press "Refresh topics"
    3. Select "/image_raw/compressed" from the dropdown menu

Autonomous exploration on the physical robot

  1. [Raspi] Run turtlebot3_bringup 
    ros2 launch turtlebot3_bringup robot.launch.py
  2. [Remote] Run Nav2, SLAM, and the exploration 
    ros2 launch turtlebot3_navigation2 navigation2.launch.py
ros2 launch slam_toolbox online_async_launch.py
ros2 launch explore_lite explore.launch.py

Project in Gazebo

Note: The following commands must be run in the workspace folder of the repository
Note: Remember to source venv and install/setup.bash before running any of the commands

Running the project

./run.sh

Running the linter

./lint.sh

Running the tests

pytest src

Generating the coverage report

coverage run --branch -m pytest src && coverage html

Project on the physical robot

Running the project

  1. [Remote] Find out the IP of the Raspberry Pi
  2. [Remote] Run the launch script 
    IP=<Turtlebot 3 ip> ./run.sh