Abstract

This sample code is to send 3 navigation goals in map frame. This code activate a node "simple_navigation_goals" This node publishes goals to /move_base/goal. This code also demonstrates how to publish a navigation goal You can see the navigation in rviz.

About us

Developer:

• Kuo-Shih Tseng
  Contact: [email protected]
  Date: 2021/08/25
  License: Apache 2.0

Install other packages

Make sure you install "turtlebot3_navigation", "turtlebot3_simulations", turtlebot3_slam, "turtlebot3_teleop."
If you did not install it, copy them from https://github.com/ROBOTIS-GIT/turtlebot3 Then, install the "turtlebot3_simulations"
$ cd ~/catkin_ws/src/
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ cd ~/catkin_ws/
$ catkin build

Install simple_navigation_goals

$ cd catkin_ws/src
$ git clone https://github.com/kuoshih/simple_navigation_goals
$ cd ..
$ catkin_make or catkin build

Or Download this this code to ~\catkin_ws\src.
Unzip simple_navigation_goals.zip.

$ cd catkin_ws
$ catkin_make or catkin build

Run the code

If you are not familiar with navigation and SLAM of turtlebot3, please see https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#gazebo-simulation

$ roslaunch turtlebot3_gazebo turtlebot3_world.launch # Terminal 1 , open gazebo environment.
$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml # Terminal 2 , Make sure you have map file in HOME.
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch # Terminal 3 , remote control
$ rosrun simple_navigation_goals simple_navigation_goals # Terminal 4 , send goals.

Visualization

When you activate "turtlebot3_navigation", you will see the rviz.

Edit code

You can edit src/simple_navigation_goals.cpp for your project.