mowito_turtlebot

All the mowito launch files have been put into a package named mowito_turtlebot. The remaining turtlebot files are for the turtlebot_3 descrption,urdf etc.

setting it up

Setup the mowito's packages from this link https://mowito-navstack.readthedocs.io/en/latest/Installation.html

create catkin workspace clone the repo and build it.

source /opt/ros/melodic/setup.bash
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/akshay-antony/turtle_mowito.git 
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y
catkin_make

For mapping (don't forget to source the files)

export TURTLEBOT3_MODEL=waffle_pi 

roslaunch turtlebot3_gazebo turtlebot3_world.launch 

In a new terminal

export TURTLEBOT3_MODEL=waffle_pi 

roslaunch mowito_turtlebot turtle_mowito_mapping.launch  

In a new terminal

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch  

For navigation with known map(close all previous terminals)

export TURTLEBOT3_MODEL=waffle_pi 

roslaunch turtlebot3_gazebo turtlebot3_world.launch 

In a new terminal

export TURTLEBOT3_MODEL=waffle_pi 

roslaunch mowito_turtlebot turtle_mowito_nav_map.launch

For exploration(not working corrctly now, close all previous terminals)

export TURTLEBOT3_MODEL=waffle_pi 

roslaunch turtlebot3_gazebo turtlebot3_world.launch 

In a new terminal

export TURTLEBOT3_MODEL=waffle_pi 

roslaunch mowito_turtlebot turtle_mowito_exploration.launch