This repository provides a collection of independent ROS2 nodes to control a TurtleBot3 robot in a Gazebo simulation. Each node offers a specific functionality, from basic movement to more advanced navigation and mapping.

Project Overview

This project contains several standalone ROS2 nodes that can be run independently to control a TurtleBot3 robot. The key functionalities include:

• Proportional Controller: A simple controller to move the robot to a desired x and y position.
• Reactive Navigation: A more advanced controller that includes obstacle avoidance logic using laser scan data.
• Map Generator: A node to create a 2D grid map of the environment based on the robot's odometry and laser scan data.
• Presenter: A script that guides the robot through a pre-defined tour of different rooms in the known environment.

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How to Run

1. Launch the TurtleBot3 Simulation (Map for the Presenter node):

   ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py

2. Launch the Navigation System (Required for the Presenter node):

   ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=/home/bruno/original_map.yaml

3. Run an Independent Controller Node:

   • Proportional Controller:

     ros2 run turtlebot3_controller turtle3_prop_controller.py

   • Reactive Navigation:

     ros2 run turtlebot3_controller turtle3_reactive_nav.py

   • Map Generator:

     ros2 run turtlebot3_controller turtle3_map_generator.py

     This will save a map.txt file in the directory where the node is run.

   • Presenter:

     ros2 run turtlebot3_controller turtle3_presenter.py

     This script will guide the robot through a tour of predefined rooms.

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