Note: This tutorial assumes that you have completed the previous tutorials: TurtleBot Installation.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Navigate with turtlebot in STDR

Description: Simulate navigation with turtlebot in a 2D environnment

Keywords: stdr, turtlebot, navigation

Tutorial Level: BEGINNER

Bringup navigation enabled turtlebot in STDR simulator, changing map and changing sensor noise.

Contents

  1. Overview
  2. Navigation
  3. Changing the Map
  4. Changing the Sensor Noise
  5. What Next?

Overview

In this tutorial we will use the stdr_simulator package to navigate with TurtleBot in a map and use RViz to visualise the sensor data.

The simulation of turtlebot's navigation can be launched by running: 

$ roslaunch turtlebot_stdr turtlebot_in_stdr.launch

This will start the STDR simulation environment, spawn a turtlebot and start the navigation. It will also run rviz to visualize the sensor data.

Changing the Map

Maps are stored into turtlebot_stdr/maps folder. In order to change the map loaded at launch time, you should set the environment variable TURTLEBOT_STDR_MAP_FILE which is set by default to load turtlebot_stdr/maps/sparse_obstacles.yaml. In order to do so, just run 

export TURTLEBOT_MAP_FILE=fullpath_to_your_map.yaml

You can also change the map loaded by default in env-hooks/25.turtlebot-stdr.sh.em file.

Changing the Sensor Noise

Sensor noises are defined in the .yaml robot description file. Refer to this STDR tutorial to understand how robots are described.

What Next?

Wiki: turtlebot_stdr/Tutorials/indigo/Navigate with turtlebot in STDR (last edited 2015-03-19 02:04:23 by jihoonl)

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