https://github.com/tiryoh/turtlebot3_neonavigation

ROS neonavigation package with turtlebot3
https://github.com/tiryoh/turtlebot3_neonavigation

Last synced: 5 months ago
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ROS neonavigation package with turtlebot3

• Host: GitHub
• URL: https://github.com/tiryoh/turtlebot3_neonavigation
• Owner: Tiryoh
• License: mit
• Created: 2021-06-09T18:52:55.000Z (about 5 years ago)
• Default Branch: master
• Last Pushed: 2021-06-27T10:28:09.000Z (about 5 years ago)
• Last Synced: 2025-10-04T18:28:53.294Z (10 months ago)
• Language: CMake
• Homepage:
• Size: 18.6 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# turtlebot3_neonavigation

## Installation

```

git clone https://github.com/Tiryoh/turtlebot3_neonavigation.git

```

```

vcs import . < turtlebot3_neonavigation/.ci.rosinstall

rosdep install -r -y -i --from-paths .

```

## Usage

### SLAM

#### Launch Gazebo Simulator

```

export TURTLEBOT3_MODEL=burger

roslaunch turtlebot3_gazebo turtlebot3_world.launch

```

#### Start [GMapping](https://openslam-org.github.io/gmapping.html)

```

export TURTLEBOT3_MODEL=burger

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

```

#### Start teleop node for moving robot

```

export TURTLEBOT3_MODEL=burger

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

```

#### Save map

```

roscd turtlebot3_neonavigation

rosrun map_server map_saver -f turtlebot3_world

```

![Image from Gyazo](https://i.gyazo.com/cca9cb712d3864c8ecacc6d6a43d8640.png)

### Navigation

#### Launch Gazebo Simulator

```

export TURTLEBOT3_MODEL=burger

roslaunch turtlebot3_gazebo turtlebot3_world.launch

```

#### Start neonavigation

[amcl](http://wiki.ros.org/amcl) or [emcl](https://github.com/ryuichiueda/emcl) is available for localization.

##### amcl

```

export TURTLEBOT3_MODEL=burger

roslaunch turtlebot3_neonavigation turtlebot3_neonavigation.launch map_file:=$(rospack find turtlebot3_neonavigation)/maps/turtlebot3_world.yaml localization:=amcl

```

![Image from Gyazo](https://i.gyazo.com/2ea6a2a6bcb3a4054eac1ed1b10f294f.gif)

##### emcl

```

export TURTLEBOT3_MODEL=burger

roslaunch turtlebot3_neonavigation turtlebot3_neonavigation.launch map_file:=$(rospack find turtlebot3_neonavigation)/maps/turtlebot3_world.yaml localization:=emcl

```

![Image from Gyazo](https://i.gyazo.com/cfcfebb709a163ac8756b145df230341.gif)