https://github.com/shaoanlu/turtlebot3_sim_nav2
https://github.com/shaoanlu/turtlebot3_sim_nav2
Last synced: 7 months ago
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- Host: GitHub
- URL: https://github.com/shaoanlu/turtlebot3_sim_nav2
- Owner: shaoanlu
- Created: 2024-11-21T16:47:28.000Z (11 months ago)
- Default Branch: main
- Last Pushed: 2024-11-22T07:19:45.000Z (11 months ago)
- Last Synced: 2025-01-26T16:47:57.407Z (9 months ago)
- Language: Python
- Size: 3.78 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# TurtleBot3 Navigation in Gazebo using ROS2 and Docker
## About
This project demonstrates autonomous navigation of a TurtleBot3 in a Gazebo simulation using ROS2 and Navigation 2 (Nav2). The primary goal is to minimize setup complexity while maintaining minimal functionality.
## Prerequisites
- Ubuntu 22.04+
- Docker and Docker Compose installed (follow the [official guilde](https://docs.docker.com/engine/install/ubuntu/))
- (Optional) If you're using an NVIDIA GPU, ensure the NVIDIA Container Toolkit is installed for hardware acceleration. Refer to the [NVIDIA Container Toolkit guide](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html).
## Setup
1. clone the repository and navigate to the project folder
```bash
git clone https://github.com/shaoanlu/turtlebot3_sim_nav2.git
cd turtlebot3_sim_nav2
```
2. Build the Docker image
```bash
docker compose build
```
3. Run the containers
```bash
# Containers
# turtlebot3_sim: The robot simulator
# nav_controller: Controller based on nav2 (turtlebot3-navigation2)
# auto_navigation: A ROS2 node that randomly publishes goal positions for the robot to follow.
docker compose up
```
4. (Optional) Stop the container
```bash
docker compose down
```
## Execution Results
The following animation demonstrates the execution of the project:
- The Gazebo window displays the TurtleBot3 robot navigating in the standard simulation world.
- The RViz window visualizes the SLAM map and the navigation progress.
## Problems Encountered and Solutions
### 1. Gazebo Window Does Not Display Properly
Encounter a black screen or no Gazebo window after running `ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py`
#### Solution: Update docker-compose.yaml Configuration
Add the following environment variables and volumes to enable graphical support in Docker:
```yaml
environment:
# Needed to define a TurtleBot3 model type
- TURTLEBOT3_MODEL=burger
# Allows graphical programs in the container.
- DISPLAY=${DISPLAY}
- QT_X11_NO_MITSHM=1
- NVIDIA_DRIVER_CAPABILITIES=all
- GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models
volumes:
# Allows graphical programs in the container.
- /tmp/.X11-unix:/tmp/.X11-unix:rw
- ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
```
and ensure the command includes the necessary Gazebo setup sourcing:
```yaml
command: >
bash -c "source /opt/ros/humble/setup.bash &&
source /usr/share/gazebo/setup.bash &&
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py"
```