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Start the workspace based on Simulation

Enter the folder

cd turtlebot4-docker

Pull the latest docker containers

docker compose pull

Configuration

Required environmental variable need to be in a .env file. An example.env file is available. Rename that file to .env and update the values as required.

For the simulation, following parameters are relevant.

SERVER_ID=0
SERVER_IP=0.0.0.0
SERVER_PORT=11811
ROS_DOMAIN_ID=0
ROS_DISCOVERY_SERVER=127.0.0.1:11811

SERVER_ID, SERVER_IP, SERVER_PORT Since the nodes related to the simulation runs on a single computer, these three parameters don't need to change.

ROS_DOMAIN_ID Since there are students sharing a single wifi network, this needs to be set. Update this to be unique from other groups. Use a value between 0-255.

ROS_DISCOVERY_SERVER Leave this as it is if the SERVER_IP=0.0.0.0 and SERVER_PORT=11811, If these default values change, update the ROS_DISCOVERY_SERVER parameters such that, ROS_DISCOVERY_SERVER=SERVER_IP:SERVER_PORT

Use the Simulation robot

On the compose.yaml file, Change the following line to select mapping or localization.

command: ["ros2", "launch", "turtlebot4_gz_bringup", "turtlebot4_gz.launch.py", "nav2:=true", "localization:=true", "slam:=false", "use_sim_time:=true"]
  • slam:=true will allow the simulated robot to map the room. use gazebo joystick option to move the robot. remember to save the mapping.
  • localization:=true will allow the simulated robot to localize on a mapped room.
  • nav2:=true along with localization:=true to navigate the robot. Default is warehouse.

Start the docker containers

xhost +local:root
docker compose up