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Navigate with turtlebot in STDR

Description: Simulate navigation with turtlebot in a 2D environnment

Keywords: stdr, turtlebot, navigation

Tutorial Level: BEGINNER

Contents

  1. Overview
  2. Navigation
  3. Changing the Map
  4. Changing the Sensor Noise
  5. What Next?

Overview

In this tutorial we will use the stdr_simulator package to navigate with TurtleBot in a map and use RViz to visualise the sensor data.

The simulation of turtlebot's navigation can be launched by running: 

$ roslaunch turtlebot_stdr turtlebot_in_stdr.launch

This will start the STDR simulation environment, spawn a turtlebot and start the navigation. It will also run rviz to visualize the sensor data.

Changing the Map

Maps are stored into turtlebot_stdr/maps folder. In order to change the map loaded at launch time, you should set the environment variable TURTLEBOT_STDR_MAP_FILE which is set by default to load turtlebot_stdr/maps/sparse_obstacles.yaml. In order to do so, just run 

export TURTLEBOT_MAP_FILE=fullpath_to_your_map.yaml

You can also change the map loaded by default in env-hooks/25.turtlebot-stdr.sh.em file.

Changing the Sensor Noise

Sensor noises are defined in the .yaml robot description file. Refer to this STDR tutorial to understand how robots are described.

What Next?

Wiki: turtlebot_stdr/Tutorials/Navigate with turtlebot in STDR (last edited 2015-03-18 09:41:53 by jihoonl)

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