Note: This tutorial assumes that you have completed the previous tutorials: TurtleBot Installation.
(!) Please ask about problems and questions regarding this tutorial on 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 STDR

Description: 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.


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/ 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/indigo/Navigate with turtlebot in STDR (last edited 2015-03-19 02:04:23 by jihoonl)