Navigation mit dem Turtlebot 4

Eine Projektarbeit von Julian Kühne und Sebastian Matz betreut von Sophie Charlotte Keunecke am IGMR der RWTH

TurtleBot2 Bibo - Documentation

The Turtlebot 2 is a mobile robot that is commonly used for academic research in sensor fusion, slaming and path planning.
This is the documentation on how to update the TurtleBot2 to ROS2.

SOURCING THE WORKSPACE WITH EVERY OPENED TAB

gedit ~/.bashrc

at end of file add

source /opt/ros/humble/setup.bash #so we can access ros2
source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash 
source ~/ros2_ws/install/setup.bash # access own workspace
source ~/ros2_ws/kobuki/install/setup.bash
source ~/ros2_ws/lidar/install/setup.bash

save it

INSTALL WITH FILES IN INSTALL FOLDER

kobuki install
teleop install
lidar install
slamtoolbox install

LAUNCH WITH FILES IN LAUNCH FOLDER

kobuki & teleop launch
lidar launch
slamtoolbox launch