Turtlebo4 Navigation from Point A to Point B

This Project was build for my midterm exam, the purpose is move to point A, and active the buzzer one time and go to another point B and active the Buzzer twice.

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How To Build

Create Folder Workspace

mkdir -p turtlebot4_ws/src
cd turtlebot4_ws/src

Clone this repo

git clone https://github.com/MasdikaAliman/turtlebot4_nav_point_to_point.git

Install package and dependiencies

cd ../ && rosdep install --from-paths src --ignore-src -r -y

Build the package

colcon build

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How To Connect from PC to Turtle

Via Ethernet

ssh ubuntu@192.168.185.3 

Via WiFi

ssh ubuntu@your_robot_ip 

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How To use Mapping Mode

Mapping Launch

ros2 launch turtlebot4_navigation slam.launch.py

Rviz Run

ros2 launch turtlebot4_viz view_navigation.launch.py  # This Jazzy

ros2 launch turtlebot4_viz view_robot.launch.py # This Humble

Control Robot Via Teleop Keyboard

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -p stamped:=true

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How To Run Nav2

Localization Launch

source install/setup.bash
ros2 launch turtlebot4_pick_place localization.launch.py

Navigation Launch

source install/setup.bash
ros2 launch turtlebot4_pick_place uts_nav.launch.py

Rviz Run

ros2 launch turtlebot4_viz view_navigation.launch.py  # This Jazzy

ros2 launch turtlebot4_viz view_robot.launch.py # This Humble

Run the send goal point A and B

source install/setup.bash
ros2 run turtlebot4_pick_place turtlebot4_pick_place_node