A simulation of a Turtlebot3 Waffle in a maze. The robot navigates the maze and goes to waypoints to scan qr codes.

In order to run it 0. Install dependencies. This project depends on libzbar0 and pyzbar. In order to install them

sudo apt install -y libzbar0

pip install pyzbar

1. In a new terminal from the repository's directory run

source devel/setup.sh

roslaunch tb_navigation maze_nav.launch

2. In a new terminal run

roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/turtlekin_ws/bettermap.yaml

Note: you may need to change the path to the map file depending on your repository location.

3. In src/tb_navigation/src/send_waypoint.py change the path so that it corresponds with your system

4. In rViz put the estimated robot position so that it is in sync with Gazeebo

5. In a new terminal

source devel/setup.sh

roslaunch tb_navigation maze_nav.launch

The robot will now start to navigate around the maze and scan QR codes.

Demo video is available in YouTube