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simulation_slam.md

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Turtlebot 4 Common

Source 설치

sudo rosdep init
rosdep update

mkdir -p ~/turtlebot4_ws/src
cd ~/turtlebot4_ws/src
git clone https://github.com/turtlebot/turtlebot4.git -b humble

cd ~/turtlebot4_ws
rosdep install --from-path src -yi --rosdistro humble

colcon build --symlink-install

Navigation

  • turtlebot 4 packages는 SLAM과 navigation을 사용하기 위한 launch와 configuration을 포함
  • Launch 파일
Nav2 : Nav2 stack을 실행
SLAM : slam_toolbox를 실행 (online mapping)
Localization : 주어진 map에서 localization을 실행
  • 동기식 SLAM 실행
ros2 launch turtlebot4_navigation slam.launch.py
  • 비동기식 SLAM 실행
ros2 launch turtlebot4_navigation slam.launch.py sync:=false
  • 기존 map으로 localization 실행
ros2 launch turtlebot4_navigation localization.launch.py map:=/path/to/map.yaml
  • Nav2 stack 실행
ros2 launch turtlebot4_navigation nav2.launch.py

Turtlebot4 Simulation 환경 설정

  • 목차
    1. Dev Tools
    2. Iginition Gazebo
    3. Install from Source or Package

Dev Tools

sudo apt install ros-dev-tools

Iginition Gazebo

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ignition-fortress

Install from Source or Package

mkdir -p ~/turtlebot4_ws/src 
cd ~/turtlebot4_ws/src
git clone https://github.com/turtlebot/turtlebot4_simulator.git -b humble

cd ~/turtlebot4_ws
rosdep install --from-path src -yi

colcon build --symlink-install

Gazebo Ignition 실행

  • 기본 설정으로 실행
ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py
  • Nav2와 동기화 SLAM 실행
ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py slam:=true nav2:=true rviz:=true

Video

  • 사용 방법
    • 실행된 Gazebo에서 왼쪽 아래 'Play' 아이콘 클릭
    • HMI 조작
      • '3', '4' : 위/아래 메뉴 조작
      • '1', '2' : '1'은 선택, '2'는 취소

Gazebo Ignition GUI toolbox

  • turtlebot4_ignition_toolbox package
    • HMI node 역할
      • turtlebot4_node와 ros_ign_birdge 사이의 bridge 역할
        • Turtlebot4 messages를 표준 message로 변환