TurtleBot3

Please note that this workspace is only tested in simulation.

🐳 Start Container

cd ~/ros2-essentials/turtlebot3_ws/docker
docker compose pull # or docker compose build
xhost +local:docker
docker compose up
# The initial build will take a while (~5 mins), please wait patiently.

The commands in the following sections assume that you are inside the Docker container:

# in a new terminal
docker exec -it ros2-turtlebot3-ws bash

TurtleBot3 burger is used by default, you can change it by the following (such as waffle or waffle_pi):

export TURTLEBOT3_MODEL=waffle_pi

If the initial build somehow failed, run:

rm -r build install
colcon build --symlink-install

🔍 Inspect Robot Model

Skip this section if you are not interested in inspecting the URDF/USD model.

(TODO)

🪐 Launch Simulator

Launch one of the following simulators (1) RViz Fake Node (2) Gazebo (3) Isaac Sim.

RViz Fake Node

Note that RViz fake node doesn't simulate sensors such as LiDAR.

ros2 launch turtlebot3_fake_node turtlebot3_fake_node.launch.py

Gazebo

Launch one of the following worlds:

ros2 launch turtlebot3_gazebo empty_world.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py

Isaac Sim

Convert URDF file to USD file and generate OmniGraph:

cd /home/ros2-essentials/turtlebot3_ws/isaacsim/scripts
./create_urdf_from_xacro.sh
python3 create_turtlebot3_burger_from_urdf.py
python3 create_turtlebot3_burger_with_omnigraph.py

Start Isaac Sim in GUI mode:

isaacsim omni.isaac.sim

Alternatively, start Isaac Sim in headless WebRTC mode:

isaacsim omni.isaac.sim.headless.webrtc --no-window

and visit http://127.0.0.1:8211/streaming/webrtc-demo/?server=127.0.0.1 to stream through WebRTC.

Open the file with OmniGraph we just generated in the bottom panel:

/home/ros2-essentials/turtlebot3_ws/isaacsim/assets/turtlebot3_burger_og.usd

or use File > Open Recent to re-open it, and click Play (SPACE) to start simulation.

To view the OmniGraph, right click the ActionGraph on the right panel and select Open Graph.

🧩 Features

Skip this section if you are not interested in enabling features.

Note that Cartographer and Nav2 features are only supported in Gazebo simulation for now.

Cartographer

Basic LiDAR SLAM.

ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True

Nav2

Requires a running SLAM or a pre-generated map.

ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=true map:=$ROS2_WS/map.yaml

🕹️ Control Robot

Raw Message

Move forward:

ros2 topic pub /cmd_vel geometry_msgs/Twist "{'linear': {'x': 0.2, 'y': 0.0, 'z': 0.0}, 'angular': {'x': 0.0, 'y': 0.0, 'z': 0.0}}"

Stop:

ros2 topic pub /cmd_vel geometry_msgs/Twist "{'linear': {'x': 0.0, 'y': 0.0, 'z': 0.0}, 'angular': {'x': 0.0, 'y': 0.0, 'z': 0.0}}"

Teleoperate

Teleoperate through keyboard:

ros2 run turtlebot3_teleop teleop_keyboard

Simple Auto Drive

Simple collision avoidance:

ros2 run turtlebot3_gazebo turtlebot3_drive

Visualize with RViz

Open a new terminal and visualize published topics in RViz:

ros2 launch turtlebot3_bringup rviz2.launch.py

💾 Save Output

Skip this section if you are not interested in saving maps.

Occupancy Grid Map

ros2 run nav2_map_server map_saver_cli -f $ROS2_WS/map

📌 References

• TurtleBot3 | ROBOTIS Documentation