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This repository contains the code to produce aGazebo Classic Simulation of aTurtlebot3 (waffle) robot (designed byRobotis) that navigates its way through a simple mazeautonomously.

This repository was built while following the learnings and instructions of theUdemy CourseROS2 Autonomous Driving and SLAM using NAV2 with TurtleBot3 created byMuhammad Luqman.

The software tools mainly used in building this project are :

• Python3 Interpreter
• Basic ROS2 Framework
• Gazebo Classic Simulator
• turtlebot3_gazebo ROS2 package
• slam_toolbox ROS2 package
• Navigation2 Stack

Operating System :

• Ubuntu (you can use the latest version available)

In order to deploy this project successfully, all the above listed softwares must be installed in your Ubuntu OS.

Originally, this project was built as anament_python type ROS2 package in the above mentioned Course. However, in this repository, I have built the project as anament_cmake type ROS2 package.

To deploy this project, please follow the below mentioned steps.

• Create a new folder at a suitable space in your Ubuntu OS. You can name the folder anything you want. But for the sake of this demonstration, I am naming it asCloned Repo

• Open anew terminal inside the folder.

• Clone this repository inside the folder by running the following terminal command.

  git clone https://github.com/Preetamk97/Autonomous-Maze-Solving-Turtlebot3-Simulation.git

• This will create a new folder namedAutonomous-Maze-Solving-Turtlebot3-Simulation inside theCloned Repo directory.

• Go inside theAutonomous-Maze-Solving-Turtlebot3-Simulation folder through the previously opened terminal.

  cd Autonomous-Maze-Solving-Turtlebot3-Simulation/

• Next, we need to build this project. So run the following command from the same terminal.

  colcon build

  This will generate 3 (three) new folders inside theAutonomous Maze Solving Turtlebot3 Simulation folder namely -build,install andlog.

• Close the previous terminal.

• Next, finally we can deploy the project.

  • Open a new terminal inside theAutonomous Maze Solving Turtlebot3 Simulation directory and run the following commands:

    source install/setup.bashros2 launch autonomous_tb3 tb3_maze_navigation.launch.py

    This will open aGazebo Classic Simulator Window (with the simulatedmaze world and aTurtlebot3 robot - inside of it) AND aRViz2 Window (where you can see a 2D map of the maze world).

    UseMouse Scroll Wheel toZoom IN/Zoom OUT in both theGazebo andRViz2 enviroments.

    Useleft mouse button (to PAN) andMouse Scroll Button (to ROTATE) -- for adjusting the position and view of themaze world in theGazebo environment - as per your convenience.

    Useleft mouse button (to ROTATE) andMouse Scroll Button (to PAN) -- for adjusting the position and view of the2D maze map in theRViz2 environment - a per your convenience.

    Also, before proceeding to the next step, it is recomended to keep both theGazebo andRviz2 windows opened side by side, so that you that you can see see what's happening in both the windows at the same time.

  • Open a second parallel terminal inside theAutonomous Maze Solving Turtlebot3 Simulation directory (while keeping the previous terminal alive) and run the following command from it :

    source install/setup.bashros2 run autonomous_tb3 maze_solver.py

Once you have followed all the mentioned steps inside theDeployment section, the followingsimulation output can be seen in theGazebo Classic Simulator window.

You can also see the robot followingthe same trajectory in the2D maze map of theRViz2 environment simultaneously. I could not screen record theRViz2 simulation to show you - due to my computer hardware limitations.

• ROS2 Autonomous Driving and SLAM using NAV2 with TurtleBot3 : Udemy Course by Muhammad Luqman
• Official Github Account of Robotis: ROBOTIS-GIT
• Official Github Account of ROS Planning: ros-planning