First, go into the root directory and run catkin_make
. This creates a catkin workspace to start working in.
To test if environment works, while in the same directory, run the following in the terminal
source devel/setup.bash
export TURTLEBOT3_MODEL=waffle
roslaunch turtlebot3_gazebo turtlebot3_house.launch
If the gazebo world is visible, the next step is to find the map files. In src/
, find the global path of the file house.yaml
. You will have to reference this path in the next step.
Now that the turtlebot3 gazebo environment is running, open a new terminal in the root directory and run the following lines of code.
source devel/setup.bash
export TURTLEBOT3_MODEL=waffle
roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=[Your Path Goes Here]
Finally, we can run the navigation stack. Go to src/
and run python3 turtlebot3.py
. You could also change the goal position in line 49 and 50 as you like (as long as it is within the range and is not coinciding with an obstacle).