turtlebot4sim

ROS 2 Jazzy simulation environment for TurtleBot3 (Waffle Pi) with SLAM and autonomous navigation, using Gazebo Harmonic and Nav2.

Requirements

Pixi — handles all dependencies including ROS 2 and Gazebo.

Usage

Build a map (SLAM):

pixi run mapping

Drive the robot with pixi run teleop in a separate terminal. Save the map when done:

pixi run savemap

Navigate on a saved map:

pixi run nav map:=$PWD/map.yaml

Launch structure

launch/
  mapping.launch.py     # sim + SLAM + nav2 + rviz
  nav.launch.py         # sim + AMCL + nav2 + rviz
  components/           # composable single-component launch files
config/
  slam_params.yaml      # slam_toolbox tuning
  nav2_params.yaml      # Nav2 stack params
  mapping.rviz          # RViz config with SLAM pose graph display