Tortoisebot ROS2 Humble Release

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Connect with Us • Installation • Setup • Demos

TortoiseBot

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1. Installation

1.1 Required Dependences:

sudo apt install ros-humble-joint-state-publisher ros-humble-robot-state-publisher ros-humble-cartographer ros-humble-cartographer-ros ros-humble-gazebo-plugins ros-humble-teleop-twist-keyboard  ros-humble-teleop-twist-joy ros-humble-xacro ros-humble-nav2* ros-humble-urdf 

cd ~/your workscpace
colcon build

1.2 Clone this repo

Make sure you clone the repo in your robot and your remote PC

git clone -b ros2-humble https://github.com/rigbetellabs/tortoisebot.git

cd ~/your workscpace
colcon build

2. Setup

• Run bringup.launch.py to only spawn the robot
• Run autobringup.launch.py to spawn the robot with navigation and slam/localization
• Launch the files with use_sim_time:=False when working on real robot

2.1 Launching the robot

ros2 launch tortoisebot_bringup autobringup.launch.py use_sim_time:=True exploration:=True

• exploration:=False for passed a saved map to navigation

2.2 Launch files for reference

SLAM

• cartographer.launch.py

Navigation

• navigation.launch.py

Rviz

• rviz.launch.py

Gazebo

• gazebo.launch.py

2.3 Remote PC

While performing colcon build on remote-pc please add the below to ignore ydlidar_sdk, ydlidar_ros2_driver, v4l2_camera since lidar will not be connected to remote-pc.

colcon build --packages-ignore ydlidar_sdk ydlidar_ros2_driver v4l2_camera

3. Demos

The TortoiseBot 🐢🤖

The ReadMe is divided into several sections as per different topics and is constantly been updated and maintained with new updates by our talented and dedicated 👥 Team at RigBetel Labs LLP. So don't forget to often come here and check on it for the latest and greatest software updates, projects & skills for your TortoiseBot. Also don't forget to 🌟 Star this repository on top-right corner of the screen to show your 💖 Love and Support 🤗 for our Team. 🤩 It will make us happy and encourage us to make and bring more such projects for you. 😍 Click here to get started.

1. Getting Started
2. Hardware Assembly
3. TortoiseBot Setup
4. Server PC Setup
5. Running Demos

Join our community for Free. Post your projects or ask questions if you need any help.

TortosieBot is sourced, assembled, made & maintained by our team 🧑🏻‍🤝‍🧑🏻 at

RigBetel Labs LLP®, Charholi Bk., via. Loheagaon, Pune - 412105, MH, India 🇮🇳
🌐 RigBetelLabs.com 📞 +91-8432152998 📨 getintouch.rbl@gmail.com , info@rigbetellabs.com
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