nav2 simple commander api
😀️LAUNCH: export TURTLEBOT3_MODEL=burger ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
RUN SLAM:
ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True
CONTROL: ros2 run turtlebot3_teleop teleop_keyboard
LAUNCH:
😀️STEPS: SOurce command: {new1} source ros_ws/ros2_learners/navigation_tb3/install/setup.bash
ros_ws/ros2_learners/navigation_tb3 colcon build
{new2}
source ros_ws/ros2_learners/navigation_tb3/install/setup.bash
ros2 launch navigation_tb3 navigation.launch.py ros2 launch turtlebot3_gazebo turtlebot3_dqn_stage4.launch.py
{new 3} source ros_ws/ros2_learners/navigation_tb3/install/setup.bash
ros2 run navigation_tb3 single_goal_nav.py
😀️Listener Talker (Talker) cd ros2_ws/ rosdep install -i --from-path src --rosdistro humble -y colcon build --packages-select py_pubsub source install/setup.bash ros2 run py_pubsub talker
(Listener) cd ros2_ws/ colcon build --packages-select py_pubsub source install/setup.bash ros2 run py_pubsub listener
(Transform) cd ros2_ws/ colcon build --packages-select py_pubsub source install/setup.bash ros2 run py_pubsub transform
(Random Coordinates) cd ros2_ws/ colcon build --packages-select py_pubsub source install/setup.bash ros2 run py_pubsub random
😀️(RQT GUI) ros2 run rqt_gui rqt_gui
(Give exact position to robot) ros2 topic pub --once /position geometry_msgs/msg/Point "{x: 2.298, y: -1.388, z: 0}"
😀️ROS TEST u = 0.08; w = 0.00; node = ros2node('MATLAB'); velocityPub = ros2publisher(node, "/rand_vel", "geometry_msgs/Twist"); msg = ros2message(velocityPub); msg.linear.x = u; msg.angular.z = w; send(velocityPub, msg);
😀️Open MATLAB cd /usr/local/MATLAB/R2023a/bin/ ./matlab
😀️ using matlab to move robot cd ros2_ws source install/setup.bash ros2 node info /MATLAB ros2 topic echo /position ros2 launch navigation_tb3 navigation.launch.py {new} cd ros2_ws source install/setup.bash ros2 run py_pubsub listener
😀️Aquila Ros, MATLAB cd /usr/local/MATLAB/R2023a/bin/ ./matlab {new1} cd ros2_ws source install/setup.bash ros2 topic echo /position run on MATLAB on verrify {new2} cd ros2_ws source install/setup.bash ros2 run py_pubsub listener {new3} cd ros2_ws source install/setup.bash ros2 launch navigation_tb3 navigation.launch.py {new4} cd ros2_ws source install/setup.bash ros2 run py_pubsub transform run AQUILA Code from MATLAB
😀️ To Generate and save map
- Launch Map, Cartographer, Teleop, and manually make the map in rviz
- open directory where you want to save map in mmy case; cd ros2_ws/ros2_learners/navigation_tb3/config
- save map using, ros2 run nav2_map_server map_saver_cli -f maps/stage4_map
😀️ Run ws (multi-robot) cd ws colcon build source ~/ws/install/setup.bash {new} ros2 launch tb3_sim multi_tb3_simulation_launch.py
😀️ Sir Luqman ros2 launch turtlebot3_gazebo turtlebot3_dqn_stage4.launch.py ros2 launch navigation_tb3 mapping.launch.py rviz2
😀️STAGE 4 Ros, MATLAB cd /usr/local/MATLAB/R2023a/bin/ ./matlab {new1} cd ros2_ws source install/setup.bash ros2 topic echo /position run on MATLAB on verrify {new2} cd ros2_ws source install/setup.bash ros2 run py_pubsub listener {new3} cd Downloads/stage4_ws/ cd Downloads/stage3_ws/ cd Downloads/stage1_ws/ (dynamic st 1,2) cd Downloads/cae_ws/ (cae world) cd Downloads/multipleobstacle_ws/ (multiple obstacle world)
source install/setup.bash source /usr/share/gazebo/setup.bash ros2 launch navigation_tb3 navigation.launch.py {new4} cd ros2_ws source install/setup.bash ros2 run py_pubsub transform run AQUILA Code from MATLAB {NEW 5} ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True {NEW 6} ros2 run rqt_gui rqt_gui
ros2 run turtlebot3_teleop teleop_keyboard
source /opt/ros/humble/setup.bash source /usr/share/gazebo/setup.bash echo "export TURTLEBOT3_MODEL=burger >>~/.bashrc https://github.com/noshluk2/ros2_learners