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🤖 TurtleBot3 Simulation Workspace

🎥 Demo Videos

TurtleBot3 Simulation Demo

TurtleBot3 Autonomous Exploration

Watch TurtleBot3 autonomously explore, map, and navigate a custom house simulation!

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🗂️ Workspace Overview

This workspace provides TurtleBot3 simulation packages for ROS 2, including:

• Gazebo simulation
• Google Cartographer SLAM
• Custom world models
• Autonomous exploration with explore_lite

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📌 Features

✅ SLAM Mapping ✅ Autonomous Navigation (Nav2) ✅ Path Planning & Obstacle Avoidance ✅ AMCL Localization ✅ Realistic Custom House World ✅ RViz Visualization ✅ CycloneDDS for better ROS 2 performance ✅ Explore Lite for fully autonomous exploration of unknown spaces

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🗂️ Workspace Structure

ps1_ws/
├── src/
│   ├── turtlebot3/
│   │   └── turtlebot3_cartographer/
│   │       └── config/
│   │           └── turtlebot3_lds_2d.lua
│   └── turtlebot3_simulations/
│       └── turtlebot3_gazebo/
│           ├── worlds/
│           ├── models/
│           ├── launch/
│           └── CMakeLists.txt
└── README.md

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⚙️ Prerequisites

• OS: Ubuntu 22.04 LTS

• ROS 2: Humble Hawksbill

• Simulator: Gazebo 11+

• Python: 3.10+

• Required Packages:

  • turtlebot3
  • cartographer_ros
  • navigation2

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📥 Installation

1️⃣ Clone the repository

cd ~/
git clone <repository-url> ps1_ws
cd ps1_ws

2️⃣ Add environment variables to ~/.bashrc

export TURTLEBOT3_MODEL=waffle
export RMW_IMPLEMENTATION=rmw_cyclonedx_cpp
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/ps1_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models
export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:~/ps1_ws/src
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:~/ps1_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models

3️⃣ Reload your terminal

source ~/.bashrc

4️⃣ Install dependencies

rosdep update
rosdep install --from-paths src --ignore-src -r -y

5️⃣ Build the workspace

colcon build --symlink-install
source install/setup.bash

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🚀 How to Use

🏠 Launch the Custom House Simulation

ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py

🗺️ Start SLAM with Cartographer

ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True

🎮 Teleop Drive for Mapping

ros2 run turtlebot3_teleop teleop_keyboard

Teleop Controls: w = forward | s = backward | a = left | d = right | x = stop | Space = emergency stop

💾 Save the Map

ros2 run nav2_map_server map_saver_cli -f ~/map

🧭 Launch Autonomous Navigation

ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=$HOME/map.yaml

🤖 Fully Autonomous Exploration with Explore Lite

ros2 launch turtlebot3_autonomous_exploration autonomous_exploration.launch.py

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🧩 Key Configuration

📄 Cartographer Config

Location: src/turtlebot3/turtlebot3_cartographer/config/turtlebot3_lds_2d.lua

Key settings:

• 📌 Frames: map → odom → imu_link
• 📌 Sensor: LDS Laser Scan, range 0.12m–8.0m
• 📌 Submaps: 160 scans/submap @ 0.05m resolution
• 📌 Pose Graph: Loop closure every 90 nodes

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🗃️ Gazebo Models

Includes AWS RoboMaker residential models:

• Air Conditioners
• Furniture & rooms
• Realistic textures and collision meshes

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🎯 RViz Controls

• 2D Pose Estimate: Set initial pose
• 2D Nav Goal: Click to set a goal
• Monitor paths: Green (global) & Purple (local)

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🐞 Troubleshooting

Issue	Solution
Map frame missing	Use RViz 2D Pose Estimate
Goals fail	Set goals in free space only
Robot won't move	Verify use_sim_time & $TURTLEBOT3_MODEL
Missing models	Check $GAZEBO_MODEL_PATH
SLAM issues	Verify /scan topic & TF tree

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⚙️ Performance Tips

✅ Tune num_range_data, hit_probability, miss_probability in turtlebot3_lds_2d.lua ✅ Keep visual meshes simple for faster Gazebo performance ✅ Use CycloneDX for robust ROS 2 communication

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🧩 Development

• Add models: models/ folder → model.sdf + model.config + meshes
• Update CMake: Add new plugins or worlds as needed
• Test configs: Edit .lua → rebuild → test in sim

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📜 License

Apache License 2.0 — see LICENSE.

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✨ Acknowledgments

Special thanks to:

• ROBOTIS TurtleBot3
• Google Cartographer
• Nav2
• Gazebo simulation team

📚 References:

• TurtleBot3 Docs
• Cartographer ROS
• Gazebo Tutorials
• ROS 2 Docs
• Explore Lite

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🙌 Contact

Author: Anish Kumar GitHub: @anishk85

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✨ Enjoy mapping & navigating with your TurtleBot3!

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