turtlebot3 VS aws-robomaker-sample-application-delivery-challenge

You could try downloading the package: https://github.com/ROBOTIS-GIT/turtlebot3/tree/humble-devel and just build / run in your iron workspace.

git clone https://github.com/ROBOTIS-GIT/turtlebot3.git -b foxy-devel

To give more context, I am using ROS2 (robot operating system) to build a small mobile robot for hobby/learning. To learn by ready other code, I am looking at a very popular ROS project called Turtlebot3.

You can copy and modify the (turtlebot3)[https://github.com/ROBOTIS-GIT/turtlebot3] repo as basis. They have different robot models for gazibo simulation and starting point for ros navigation.

- if you want to later make a more complicated robot (that uses cameras, has robotic arm etc.) you'd want to look into ROS (robot operating system). If you are in/going to university I highly recommend you join an engineering design team. For an example project you can refer to https://github.com/ROBOTIS-GIT/turtlebot3

The tutorial I was using (which comes straight from nav2) says to run ros2 launch nav2_bringup navigation_launch.py . However, when I went to tune Turtlebot3 via the .param file, it did no change whatsoever. This is because, by default, the file uses up this param file that is significantly different than burger.yaml; After changing it the costmap looks completely different. After reading the source code for the .launch file of the Turtlebot3 nav package for galactic and nav2, I've found out that running ros2 launch nav2_bringup navigation_launch.py params_file:=[PATH_TO_BURGER_YAML] works and completely fixes this issue.

If you're looking for an example of setting the local planner then the turtlebot3 (which I've seen you're using in your delivery_robot_sample package) has an example here: https://github.com/ROBOTIS-GIT/turtlebot3/blob/master/turtlebot3_navigation/launch/move_base.launch

I'm messing around with something right now and I feel like sbql_dynamic_planner (a local planner) would be the best for what I want to do. I'm struggling to find any resources on how to change the local planner though. Any help would be greatly appreciated! Thanks a lot :D

I've been trying this out for fun recently. I'm not a huge fan of tuning the navigation parameters since I find that it does not have any impact on the robot in a dynamic environment. The robot still crashes no matter how much I tune it (it just crashes in new ways every time). I've referred to some basic tuning guides but it still makes no difference.

I am using TurtleBot in this environment and I want to switch my algorithm to TEB for better movement in a dynamic environment. Which files do I need to switch out as this doesn't seem to work. Thanks! :D

I am using the default RVIZ 2D Navigation tool to navigate in this environment. My robot keeps getting delocalized, i.e., it just teleports to some other part of the map and then the navigation stops working. Could some one please help me? It would be really appreciated. Thanks! :D

I replaced the TurtleBot models from this environment with my own 4 wheel robot. The robot loads in just fine and it's able to move in a straight line but it can't turn. I have to submit this tomorrow so any help would really be appreciated. Thanks a lot!!! :D

I want to replace the TurtleBot here with my own robot. I want to just remodel the bot and add things like a basket and an arm (it doesn't need to work). Which files do I need to make changes to? If remodeling the TurtleBot is not possible, then how do I add my own robot to the launch files? Any help is appreciated! :D

I'm trying to use this: https://github.com/aws-samples/aws-robomaker-sample-application-delivery-challenge

I'm trying to map out a custom environment. I'm trying to follow the steps given here to do so. However, mapping the environment following these steps is so much harder than anything else I've tried (for example, turtlebot3 simulation environments using TheConstructSim). Is there an alternate way I could directly map it? Or else, how do I load up my own environment on TheConstructSim and map it there? Thanks :D