Nav2Turtle

This ROS2 project utilizes a TurtleBot3 waffle robot for navigation through predefined battery waypoints. Ensure you have the necessary dependencies installed before running the project.

Simulations

Dependencies

1. Install TurtleBot3 ROS2 packages:

   sudo apt install 'ros-galactic-turtlebot3*'
   sudo apt install 'ros-galactic-turtlebot3-*'

2. Install TF2 packages:

   sudo apt install ros-galactic-tf2
   sudo apt install ros-galactic-tf2-ros
   sudo apt install ros-galactic-tf2-tools

3. Install Navigation2 packages:

   sudo apt install ros-galactic-navigation2
   sudo apt install ros-galactic-nav2-bringup
   sudo apt install ros-galactic-slam-toolbox

4. Install the lastest version of OpenCV:

   pip3 uninstall opencv-python
   pip3 uninstall opencv-contrib-python
   pip3 install opencv-contrib-python

5. Export TurtleBot3 model:

   export TURTLEBOT3_MODEL=waffle

Launching the World

To launch the world, run the following command:

ros2 launch final_project final_project.launch.py

Launching the Controller

Launch the controller to navigate through battery waypoints:

ros2 launch group6 robot_controller.launch.py

You can customize the waypoint order in the waypoint_params.yaml file in the group6 config folder. Change aruco_1 to aruco_0 or as needed.
Reference link: https://github.com/zeidk
Additonally you can also refer to the pdf provided for better insights