README.md

turtlebot2 on ROS2 at ICCLab

On the Robot:

Start the base + navigation

ros2 launch turtlebot2_bringup icclab_tb2-2_bringup.launch.py (or tb2-1, which has a different laser scanner)
ros2 launch turtlebot2_nav icclab_tb2_nav2.launch.py

Start the camera streaming

ros2 launch turtlebot2_bringup astra_icclab.launch.py

Enable image transport compression

ros2 run image_transport republish raw compressed --ros-args --remap in:=/camera/color/image_raw --remap out/compressed:=/camera/color/image/compressed
ros2 run image_transport republish raw compressedDepth --ros-args --remap in:=/camera/depth/image_raw --remap out/compressedDepth:=/camera/depth/image/compressedDepth

In simulation (on container):

Make sure you have compiled the kobuki_description package, then launch:

ros2 launch turtlebot2_gazebo icclab_turtlebot2_nav2.launch.py