razany98 / slam-map-building-with-turtlebot

SLAM (Simultaneous Localization and Mapping) is a technique used to create and build a map for a telecontrol of the robotics.

In order to do that you need to download the turtlebot packages and follow some steps:

1 - Go to https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/

Choose your ROS version first.

2 - Now open your terminal and write the following commands in order (in case you are using ROS noetic).

1 - Install ROS on Remote PC and write the follwoing commands:

• $ sudo apt update
• $ sudo apt upgrade
• $ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_noetic.sh
• $ chmod 755 ./install_ros_noetic.sh
• $ bash ./install_ros_noetic.sh

2 - Install Dependent ROS Packages:

• $ sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy
  ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc
  ros-noetic-rgbd-launch ros-noetic-rosserial-arduino
  ros-noetic-rosserial-python ros-noetic-rosserial-client
  ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server
  ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro
  ros-noetic-compressed-image-transport ros-noetic-rqt* ros-noetic-rviz
  ros-noetic-gmapping ros-noetic-navigation ros-noetic-interactive-markers

• Note: The above command is one full command, so copy the entire lines.

3 - Install TurtleBot3 Packages:

• $ sudo apt install ros-noetic-dynamixel-sdk
• $ sudo apt install ros-noetic-turtlebot3-msgs
• $ sudo apt install ros-noetic-turtlebot3

For the simulation packages go to: https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/ and write the commands in order.

1 - Install Simulation Package:

• $ cd ~/catkin_ws/src/
• $ git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
• $ cd ~/catkin_ws && catkin_make

2 - Launch Simulation World:

There are 3 simulation environments and different models for TurtleBot3. Select one to launch gazebo and write its commands in a new terminal.

Empty Wrold:

• $ export TURTLEBOT3_MODEL=burger
• $ roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

TurtleBot3 World

• $ export TURTLEBOT3_MODEL=waffle
• $ roslaunch turtlebot3_gazebo turtlebot3_world.launch

TurtleBot3 House

• $ export TURTLEBOT3_MODEL=waffle_pi
• $ roslaunch turtlebot3_gazebo turtlebot3_house.launch

Now gazebo will open.

To run SLAM node, go to the website: https://emanual.robotis.com/docs/en/platform/turtlebot3/slam/

Open a new terminal tab and paste the following commands:

• $ export TURTLEBOT3_MODEL=waffle (change waffle to the model you are using, either burger or waffle_pi)
• $ roslaunch turtlebot3_slam turtlebot3_slam.launch

Now Rviz will open.

Now to run the teleoperation node and control the movement of your robot model, open a new terminal tab and paste:

• $ export TURTLEBOT3_MODEL=burger
• $ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Set of instruction will appear on the screen.

Now you can control the movements of your robot miles away.