|Note: This tutorial assumes that you have completed the previous tutorials: TurtleBot Installation.|
|Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.|
Navigate with turtlebot in STDRDescription: Simulate navigation with turtlebot in a 2D environnment
Keywords: stdr, turtlebot, navigation
Tutorial Level: BEGINNER
Bringup navigation enabled turtlebot in STDR simulator, changing map and changing sensor noise.
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
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.