Robotique Mobile

Here are the bash script usefull to start with this project (you must be in /home/[user]/turtlebot4_env_docker):

-Install the docker

  . bash_scripts/install_docker.bash

-Start the docker

  . bash_scripts/start_docker.bash

-Join the docker

  . bash_scripts/join_docker.bash

-Unistall the docker

  . bash_scripts/uninstall_docker.bash

Then you can use the following command lines.

-To create the map using gazebo :

ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py

-To launch the map construction with rvizz :

ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True use_rviz:=True

Save rviz map

ros2 run nav2_map_server map_saver_cli -f my_map