navlab_turtlebot_base

ROS package for working with TurtleBot robots

Install Instructions

1. Install dependencies:

sudo apt-get install ros-"${ROS_DISTRO}"-turtlebot3 ros-"${ROS_DISTRO}"-vrpn

Gazebo Simulation w/ Move Base and Goal Planner

Simulate flight room in Gazebo environment:

roslaunch navlab_turtlebot_bringup navigate_multi.launch robot_count:=4 goal_file:=$(rospack find navlab_turtlebot_sim)/param/four_square.yaml planner:=goal odom_source:=mocap

Stanford Flight Room Launch Instructions w/ Move Base and Goal Planner

This section contains specific details for running in the Stanford Flight Room.

On the motion capture relay computer run:

roscore

On each turtlebot run

roslaunch navlab_turtlebot_bringup turtlebot_bringup.launch planner:=goal zed:=true odom_source:=mocap

On the base/groundstation computer run:

roslaunch navlab_turtlebot_bringup navigate_multi.launch robot_count:=4 goal_file:=$(rospack find navlab_turtlebot_sim)/param/four_square.yaml planner:=goal sim:=false odom_source:=mocap