Warehouse Automation with TurtleBot3 in ROS2

Overview

This project integrates TurtleBot3 with the AWS RoboMaker Small Warehouse World in a ROS2 and Gazebo simulation environment.

Prerequisites ROS2 (Humble) Gazebo TurtleBot3 Gazebo package

Setup

1. Clone AWS RoboMaker Warehouse Repository

git clone https://github.com/aws-robotics/aws-robomaker-small-warehouse-world

2. Source ROS2 and Gazebo

source /opt/ros/humble/setup.bash
source /usr/share/gazebo/setup.sh

3. Install TurtleBot3

sudo apt-get install ros-humble-turtlebot3-gazebo

4. Set TurtleBot3 Model

export TURTLEBOT3_MODEL=waffle

5. Create ROS2 Package

ros2 pkg create warehouse_automation --build-type ament_cmake --dependencies rclcpp rclpy

Launch the Simulation

ros2 launch warehouse_automation no_roof_small_warehouse.launch.py

Running nodes

Mover Node

To run the mover node defined in velocity_publisher.cpp run the following

ros2 run warehouse_automation mover

Watcher Node

To run the watcher node defined in camera_node.cpp run the following

ros2 run warehouse_automation watcher

Scanner Node

This node subscribes to Laserscan topic To run the mover node defined in subscriber_node.cpp run the following

ros2 run warehouse_automation scanner

Adjust Camera Height for TurtleBot3 Waffle

To enhance the camera's field of view, I made a small modification for the height

1. Open the SDF file: /opt/ros/humble/share/turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf

2. Modify the camera height:

   xml
   <link name="camera_rgb_frame">
     ...
     <!-- Adjust the Z-axis value (3rd number) in the <pose> tag to change the height -->
     <pose>0.069 -0.047 YOUR_HEIGHT 0 0 0</pose>
     ...
   </link>

Common Issues

Error: Gzclient process crash with exit code -6.

Solution: Source the Gazebo setup file.

source /usr/share/gazebo/setup.sh

reference : https://answers.ros.org/question/358847/cannot-launch-gzclient-on-a-launch-file-results-in-shared_ptr-assertion-error/

Tutorial for SLAM and Navigation using Navigation2 Stack ROS2 Humble :

https://roboticsbackend.com/ros2-nav2-tutorial/