Robot Navigation with Obstacle Avoidance - technologyELTE/Turtlebot3_motion_control_practice GitHub Wiki

Python Initial Code for Turtlebot Motion Control

Initial Python file for Turtlebot3 Motion Control Download Here

The task is to control the Turtlebot3 from the starting point to reach the goal point. There will be unknown obstacles along the path. You must write your algorithm to navigate the robot to complete the task. You can use any on-the-shelf path planning algorithm.

In the scenario, you will know the starting and the goal points. Then, your program should control your Turtlebot to complete the task.

The first group who can complete the task will get extra points.

The useful tool is Robot_Data_Tool package. You do the git-clone to your workspace and do the "colcon build". Robot_Data_Tool on Github

The command for running the package is ros2 run robot_data_tool map_pose_provider

To subscribe the position of the robot you can subscribe topic robot_map_pose/euler. The type of message is Vector3.

From now you can know the current position of the robot which related to the map and the object around the robot from LiDAR scanner. You can write your own algorithm to complete the task now.