Turtlebot4 Docker

This repo provides multiple containers to work with Turtlebot4 Robots in DiscoveryServer Mode.

This pacakge provides and utilizes following containers

• Turtlebot4-Discovery
  Provides the discovery service for the simulation

• Turtlebot4
  Provides rviz, nav2 and slamtoolbox tools to interact with both simulation and physical robots

• Turtlebot4-Simulation
  Provides the Gazebo based simulation environment

• Turtlebot4-workspace
  Provides a workspace that can be used to test code on both simulation and physical robots

This packages contains two compose files that handles environmental variable configurations for Discovery Server on behalf of the user, so the user can focus on development without configuration worries

• compose.yaml for simulated robot
• compose-physical.yaml for physical robot

Install Docker

Follow the official instructions here

Clone the repo

On the terminal run the following command to clone the repo

git clone https://github.com/CollaborativeRoboticsLab/turtlebot4-docker.git

Information

Read more information on following documents

• Container and Parameter Information
• Troubleshooting
• Starting the simulation
• Starting the physical robot
• Writing your code