The goals for this section:
Task 1.1 — Cleanup. Remove directory ~/autonomy_ws if it exists. This may be leftover from a previous section.
Task 1.2 — Directories. Create the base directory structure for your group’s ROS workspace, ~/autonomy_ws/src.
Task 1.3 — Clone and Branch. Clone your group’s GitHub repo to the src/ directory, and create a new branch called section5.
Task 1.4 – Copy homework navigator. We will be adding the code you wrote in HW2 to your autonomy stack to control the TurtleBot. Copy the file navigator.py to the folder ~/autonomy_ws/src/<group_repo>/autonomy_repo/scripts and the file navigator.launch.py to the folder ~/autonomy_ws/src/<group_repo>/autonomy_repo/launch on the AA274 laptop.
Task 1.5 — Build. Register your navigator node by updating CMakeLists.txt. Then, navigate back to the root of your workspace and build it using colcon build --symlink-install.
Task 2.1 — Launch simulator. Firstly, we will test out your HW2 code before you can test it out on the actual robot. Start the TurtleBot simulator by:
ros2 launch asl_tb3_sim root.launch.py
Task 2.2 — Launch your navigator. In a new terminal, source your workspace, and then launch the navigator:
source ~/autonomy_ws/install/setup.bash
ros2 launch autonomy_repo navigator.launch.py
Task 2.3 – Navigate to goal. Set a new goal pose in RViz by selecting the 2D Goal Pose button on the top toolbar and then clicking and dragging in the environment to set a goal pose.
After you set the goal, you should expect to see something like this in RViz.
Checkpoint — Show the CA your TurtleBot navigating in sim.