Applay it to turtlebot

[6visitor]

Hi Reinis, I plan to train a model based ROS2 and applay it to turtlebot2 or turtlebot3(I haven't bought it yet). May I achieve it by combining [DRL-Robot-Navigation-ROS2] and [GDAE]. if it is possible, what do I need to be aware of ?

[reiniscimurs]

Hi,

GDAE is written for ROS, not ROS2, so you would have to rewrite the implementation with that in mind. Also this repository works with pytorch but GDAE has tensorflow implementation. You could make it work, but would have to re-write quite a lot of code and fully understand the implementation.

[6visitor]

Hi, 你好,

GDAE is written for ROS, not ROS2, so you would have to rewrite the implementation with that in mind. Also this repository works with pytorch but GDAE has tensorflow implementation. You could make it work, but would have to re-write quite a lot of code and fully understand the implementation.GDAE是为ROS编写的，而不是为ROS2编写的，因此您必须考虑到这一点来重写实现。此外，这个存储库与pytorch一起工作，但GDAE有tensorflow实现。您可以使其工作，但必须重写相当多的代码并完全理解实现。

Thank you very much for your answer, I will build on your repository for my purposes. I have another question, is the odometry mentioned in the code an encoder or a depth camera, and I wonder if I need to buy an additional odometry if I buy the turtlebot3.

[6visitor]

Also, I have successfully run DRL-Robot-Navigation-ROS2, can I make it also catered for running on physical robots by adding something to this repository. If so, what do I need to add?

[reiniscimurs]

For any kind of navigation you will need to localize your robot in the environment. You could have wheel odometry but this will not work well in real life as it is very error prone. So you will need some other methods (like SLAM) to localize.

You should be able to manipulate the code to run it on real robot. That will depend entirely on your implementation and hardware so that is beyond the scope of this repo.