Tortoisebot ROS2 Humble Release

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<p align="center"><a href="#connect-with-us-">Connect with Us</a> • <a href="#1-installation">Installation</a> • <a href="#2-setup">Setup</a> • <a href="#3-demos">Demos</a> <h1 align="center"> TortoiseBot </h1>

Connect with us

<a href="https://rigbetellabs.com/"></a> <a href="https://rigbetellabs.com/discord"></a> <a href="https://www.youtube.com/channel/UCfIX89y8OvDIbEFZAAciHEA"></a> <a href="https://www.instagram.com/rigbetellabs/"></a>

1. Installation

1.1 Required Dependences:

sudo apt install ros-humble-joint-state-publisher ros-humble-robot-state-publisher ros-humble-cartographer ros-humble-cartographer-ros ros-humble-gazebo-plugins ros-humble-teleop-twist-keyboard  ros-humble-teleop-twist-joy ros-humble-xacro ros-humble-nav2* ros-humble-urdf 

cd ~/your workscpace
colcon build

1.2 Clone this repo

Make sure you clone the repo in your robot and your remote PC

git clone -b ros2-humble https://github.com/rigbetellabs/tortoisebot.git

cd ~/your workscpace
colcon build

2. Setup

• Run bringup.launch.py to only spawn the robot
• Run autobringup.launch.py to spawn the robot with navigation and slam/localization
• Launch the files with use_sim_time:=False when working on real robot

2.1 Launching the robot

ros2 launch tortoisebot_bringup autobringup.launch.py use_sim_time:=True exploration:=True

• exploration:=False for passed a saved map to navigation

2.2 Launch files for reference

SLAM

• cartographer.launch.py

Navigation

• navigation.launch.py

Rviz

• rviz.launch.py

Gazebo

• gazebo.launch.py

2.3 Remote PC

While performing colcon build on remote-pc please add the below to ignore ydlidar_sdk, ydlidar_ros2_driver, v4l2_camera since lidar will not be connected to remote-pc.

colcon build --packages-ignore ydlidar_sdk ydlidar_ros2_driver v4l2_camera

3. Demos

<!-- Simulation | Visualisation of Sensors (Lidar, Odometery, Camera) :-------------------------:|:-------------------------:  | Teleop | Mapping | Navigation :-------------------------:|:-------------------------:|:-------------------------:  |  |  -->

The TortoiseBot 🐢🤖

The ReadMe is divided into several sections as per different topics and is constantly been updated and maintained with new updates by our talented and dedicated 👥 Team at RigBetel Labs LLP. So don't forget to often come here and check on it for the latest and greatest software updates, projects & skills for your TortoiseBot. Also don't forget to 🌟 Star this repository on top-right corner of the screen to show your 💖 Love and Support 🤗 for our Team. 🤩 It will make us happy and encourage us to make and bring more such projects for you. 😍 Click here to get started.

1. Getting Started
2. Hardware Assembly
3. TortoiseBot Setup
4. Server PC Setup
5. Running Demos

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TortosieBot is sourced, assembled, made & maintained by our team 🧑🏻‍🤝‍🧑🏻 at<br>

RigBetel Labs LLP®, Charholi Bk., via. Loheagaon, Pune - 412105, MH, India 🇮🇳<br> 🌐 RigBetelLabs.com 📞 +91-8432152998 📨 getintouch.rbl@gmail.com , info@rigbetellabs.com <br> LinkedIn | Instagram | Facebook | Twitter | YouTube | Discord Community