Path Planning Repository for custom Turtlebot3

Overview

This repository utilizes path planning algorithms for navigation. This README provides instructions on how to set up and run the simulation. Follow this website for more details: https://wiki.ros.org/ROS/Tutorials

Setup

1. Clone Repository

Clone the Turtlebot3 and path planning repositories using the following commands:

cd ~/catkin_ws/src
https://github.com/ROBOTIS-GIT/turtlebot3.git
https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
https://github.com/TrH-Thang/Turtlebot3_PathPlanning_Algorithms.git
catkin_make

2. Launch Simulation

Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.

ex:

open a terminal and run following command

export TURTLEBOT3_MODEL=waffle

then:

roslaunch turtlebot3_gazebo turtlebot3_world.launch

3. Launch Navigation with different Path Planning algorithms

To enable navigation with different path planning algorithms, run the following command:

export TURTLEBOT3_MODEL=waffle
roslaunch path_planning path_planning.launch

It will open a rviz window select 2D Nav Goal button and select the goal position on the map.

In the path_planning/scripts/path_planning_server.py file, locate line 42 and change the algorithm to your desired one (e.g., astar, dijkstra, rrt).