Turtlebot 4 - SLAM¶
Multirobot configuration¶
Run the following commands in separate terminals (you can use tmux) and for each robot where X is the ID of particular robot:
On PC
Install turtlebot4-navigation:
sudo apt install ros-humble-turtlebot4-navigation
sudo apt install ros-jazzy-turtlebot4-navigation
Launch SLAM stack:
ros2 launch turtlebot4_navigation slam.launch.py namespace:=/turtleX
ros2 launch turtlebot4_navigation slam.launch.py namespace:=/turtleX
Launch Rviz2:
ros2 launch turtlebot4_viz view_robot.launch.py namespace:=/turtleX
ros2 launch turtlebot4_viz view_navigation.launch.py namespace:=/turtleX
Launch nav2
ros2 launch turtlebot4_navigation nav2.launch.py namespace:=/turtleX
ros2 launch turtlebot4_navigation nav2.launch.py namespace:=/turtleX
Driving the robot¶
Install teleop-twist-keyboard:
sudo apt install ros-humble-teleop-twist-keyboard
sudo apt install ros-jazzy-teleop-twist-keyboard
than run:
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/turtleX
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r __ns:=/turtleX -r cmd_vel:=cmd_vel_unstamped