ROS2 Navigation 2

This repository performs autonomous driving using Navigation 2.

How to Run

Run TurtleBot3 Gazebo simulation

    export TURTLEBOT3_MODEL=waffle
  	export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
  	source /opt/ros/humble/setup.bash
  	source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash

    ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

In another terminal, run Navigation 2 for the Gazebo simulation

    export TURTLEBOT3_MODEL=waffle
  	export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
  	source /opt/ros/humble/setup.bash
  	source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash

    cd /workSpacePath/src

    ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True maps:=map/map_0.yaml

In another terminal, run our package

    export TURTLEBOT3_MODEL=waffle
  	export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
  	source /opt/ros/humble/setup.bash
  	source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash

    source /workSpacePath/install/setup.bash # or locate workspace and run below code
    # source /install/setup.bash
    ros2 run auto_drive drive

Important Notes

• If you cannot run please contact to me.

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Screenshots

Screenshot of Rviz while mapping manually with the robot

Our map in Rviz

Initial position of the robot in Gazebo

Running our package in the terminal

Rviz after running our package

Robot moving toward the destination in Rviz

Robot reaching the destination in Rviz

Robot reaching the destination in Gazebo