Wandering Application in TurtleBot3 Waffle robot through Gazebo Simulation#

This tutorial shows a TurtleBot3 Waffle robot performing autonomous mapping of the TurtleBot3 robot world in the Gazebo simulation. For more information about TurtleBot3 Waffle robot, refer to TurtleBot3 documentation.

Prerequisites#

Complete the get started guide before continuing.

Run the Sample Application#

  1. If your system has an Intel® GPU, follow the steps in the get started guide to enable the GPU for simulation. This step improves Gazebo simulation performance.

  2. Install the Wandering Gazebo tutorial:

    sudo apt-get install ros-jazzy-wandering-gazebo-tutorial

    sudo apt-get install ros-humble-wandering-gazebo-tutorial

  3. Execute the command below to start the tutorial:

    ros2 launch wandering_gazebo_tutorial wandering_gazebo.launch.py

    Expected output:

    Gazebo client, rviz2 and RTAB-Map applications start and the robot starts wandering inside the simulation. See the simulation snapshot:

    gazebo_waffle

    Rviz2 shows the mapped area and the position of the robot:

    wandering-gazebo-rviz2

    To enhance performance, set the real-time update to 0 by following the steps below:

    1. In Gazebo’s left panel, go to the World Tab, and click Physics.

    2. Change the real time update rate to 0.

  4. To conclude, use Ctrl-c in the terminal where you are executing the command.

Troubleshooting#

For general robot issues, refer to Troubleshooting.