Machine learning based line following using TurtleBot3 with ROS2 Jazzy and Gazebo Harmonic
Dependencies
https://github.com/MOGI-ROS/DynamixelSDK/tree/humble-devel https://github.com/MOGI-ROS/turtlebot3_msgs/tree/ros2 https://github.com/MOGI-ROS/turtlebot3/tree/mogi-ros2 https://github.com/MOGI-ROS/turtlebot3_simulations/tree/new_gazebo
Dynamixel SDK if problem with module em uninstall existing em and install this version pip install empy==3.3.4 ros2/rosidl#779 pip install lark sudo apt install ros-jazzy-hardware-interface sudo apt install ros-jazzy-nav2-msgs sudo apt install ros-jazzy-nav2-costmap-2d sudo apt install ros-jazzy-nav2-map-server sudo apt install ros-jazzy-nav2-bt-navigator sudo apt install ros-jazzy-nav2-bringup sudo apt install ros-jazzy-interactive-marker-twist-server sudo apt install ros-jazzy-cartographer-ros
export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_gazebo empty_world.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
sudo apt install ros-jazzy-cartographer-ros
ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim:=true
ros2 run teleop_twist_keyboard teleop_twist_keyboard
Navigation: ros2 launch turtlebot3_navigation2 navigation2_use_sim_time.launch.py map_yaml_file:=/home/david/ros2_ws/src/Week-1-8-Cognitive-robotics/turtlebot3_mogi/maps/map.yaml