Slam mapping and autonomous navigation simulation based on turnlebot3

Source: Gu Yueju

turtlebot3 brief introduction

TurtleBot3 It's a small , Low cost , Completely programmable , be based on ROS Mobile robot of . It is intended for education , Research , The purpose of product prototype and hobby Application .

TurtleBot3 Our goal is to significantly reduce the size and price of the platform , Without sacrificing performance , Function and quality . Because different options are provided , Such as chassis , Computers and sensors ,TurtleBot3 It can be customized in various ways .

install turtlebot3

sudo apt-get install ros-melodic-turtlebot3-*
 // install gmapping Mapping algorithm dependency 
apt-get install ros-melodic-gmapping 
 // install dwa Local path planning algorithm 
apt-get install ros-melodic-dwa-local-planner

ROS Different versions should be modified melodic

Keyboard control trolley movement

First, in the gazebo Start in the simulation environment turtlebot3 Car

export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

Install keyboard control related dependencies

sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control
sudo apt-get install ros-melodic-teleop-twist-keyboard

Run the keyboard control node , Control the trolley according to the output prompt

rosrun teleop_twist_keyboard teleop_twist_keyboard.py

If the installation appears [Err] [REST.cc:205] Error in REST request The following configuration is required :

sudo gedit ~/.ignition/fuel/config.yaml
 Put... In the file https://api.ignitionfuel.org It is amended as follows https://api.ignitionrobotics.org

If you start gazebo It has been unable to open , as a result of .gazebo Download models Incorrect library results in , The solution is to download all models directly to the user's root directory .gazebo/models/ Next

cd ~/.gazebo/
mkdir -p models
cd ~/.gazebo/models/
wget http://file.ncnynl.com/ros/gazebo_models.txt
wget -i gazebo_models.txt
ls model.tar.g* | xargs -n1 tar xzvf

SLAM Building maps

Turn off all the above commands , Restart the following command

1、 Start the simulation environment

export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_gazebo turtlebot3_house.launch

2、 Turn on SLAM function , Selection of mapping algorithm gmapping

export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

3、 Start keyboard control node , Control the trolley to rotate around the environment , Scan out a complete and closed map as much as possible

export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

4、 Save the map

rosrun map_server map_saver -f ~/map

This is the map I swept out after running around the car

Autonomous Navigation

Realized renderings ：

1、 First load the saved map

rosrun map_server map_server map.yaml

2、 Open the simulation environment , Use visualization tools rviz Show it

export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_gazebo turtlebot3_house.launch

3、 Turn on the autonomous navigation function

export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/kaijun/map.yaml

Good configuration rviz, Use 2D Pose Estimate Set the starting point of the car , Reuse 2D Nav Goal Set the target location of the car , The car will plan the path , Automatically run to the target location , Realize autonomous navigation function .

This article is only for academic sharing , If there is any infringement , Please contact to delete .

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