turtlebot3_robot_localization_ws

This repository's goal is to make a ready to use simulation that use robot_localization package for sensor fusing.

This simulation works under ROS2 Foxy.
The simulation will use a turtlebot3 waffle in the turtlebot world.
Turtlebot's urdf and sdf files were modified to add a gps sensor.
Also the urdf will use the wheel encoder odometry

There are two launch file for robot_localization package :

• First one is sensor fusion with odometry and IMU sensor.
• Second one is sensor fusion with odometry, IMU and GPS sensor.

Download this repository and enter it:

git clone https://github.com/cocodmdr/turtlebot3_robot_localization_ws.git
cd turtlebot3_robot_localization_ws

Install required dependencies and build package:

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install

Start gazebo with turtlebot3, it has IMU and GPS sensors.
Make sure you sourced ROS2 Foxy in each terminal.

source ~/turtlebot3_robot_localization_ws/install/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_robot_localization_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models/
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

If gazebo is not working properly, kill and relaunch.

killall gazebo 
killall gzserver
killall gzclient

Start either the first example or the second one but not both:

1. Start robot_localization local ekf example:

source ~/turtlebot3_robot_localization_ws/install/setup.bash
ros2 launch robot_localization ekf.launch.py

2. Start robot_localization ekf with gps example:

source ~/turtlebot3_robot_localization_ws/install/setup.bash
ros2 launch robot_localization dual_ekf_navsat_example_simulation.launch.py

set datum (see:http://wiki.ros.org/ROS/YAMLCommandLine)

source ~/turtlebot3_robot_localization_ws/install/setup.bash
ros2 service call /datum robot_localization/srv/SetDatum '{geo_pose: {position: {latitude: 47.84063717753856, longitude: 10.619951493275392, altitude: 740.0870444467291}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}'
ros2 service call /datum robot_localization/srv/SetDatum '{geo_pose: {position: {latitude: 47.84063717753856, longitude: 10.619951493275392, altitude: 740.0870444467291}, orientation: {x: 0.0, y: 0.0, z: 0.383, w: 0.924}}}'
ros2 service call /datum robot_localization/srv/SetDatum '{geo_pose: {position: {latitude: 47.818646333333334, longitude: 10.623770833333333, altitude: 740.0870444467291}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}'
ros2 service call /datum robot_localization/srv/SetDatum '{geo_pose: {position: {latitude: 47.840636, longitude: 10.619921, altitude: 740.0870444467291}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}'

You can control the virtual TurtleBot3 by using keyboard teleoperation:

source ~/turtlebot3_robot_localization_ws/install/setup.bash
export TURTLEBOT3_MODEL=waffle
ros2 run turtlebot3_teleop teleop_keyboard

Visualize in Rviz:

source  ~/turtlebot3_robot_localization_ws/install/setup.bash
rviz2 -d ~/turtlebot3_robot_localization_ws/src/turtlebot3_simulations/turtlebot3_gazebo/rviz/tb3_gazebo_robot_localization.rviz

In Rviz you can use the reset button when you relaunch the gazebo simulation because there are sometimes problems due to time jumps.

Turtlebot GPS navigation

Start gazebo with turtlebot3, it has IMU and GPS sensors.
Make sure you sourced ROS2 Foxy in each terminal.

source ~/turtlebot3_robot_localization_ws/install/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_robot_localization_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models/
ros2 launch turtlebot3_gazebo empty_world.launch.py