Turtlebot3 Docker based Navigation Stack

This main branch contains instructions for the ROS2 Humble system.

Usage with Docker

Clone this reposiotory

git clone https://github.com/CollaborativeRoboticsLab/turtlebot3-docker.git

Prebuilt Usage

Pull the Docker image and start compose (No need to run docker compose build)

cd turtlebot3-docker/docker
docker compose pull
xhost +local:root
docker compose up

To clean the system,

docker compose down

Local build

Run the following commands to build locally

cd turtlebot3-docker/docker
docker compose -f compose-build.yaml build
xhost +local:root
docker compose -f compose-build.yaml up

To clean the system,

docker compose -f compose-build.yaml down

Usage with without Docker

Though this is geared toward docker, the package itself can be directly used with ROS2 without docker.

Install dependencies

sudo apt install ros-$ROS_DISTRO-navigation2 ros-$ROS_DISTRO-nav2-bringup ros-$ROS_DISTRO-slam-toolbox ros-$ROS_DISTRO-nav2-minimal-tb*

Clone the package

mkdir -p colcon_ws/src
cd colcon_ws/src

git clone https://github.com/CollaborativeRoboticsLab/turtlebot3-docker.git
cd ..
rosdep install --from-paths src -y --ignore-src

Build the package

colcon build

Launch Gazebo Simulation

source install/setup.bash
ros2 launch turtlebot3-docker turtlebot3_world.launch.py

Launch Nav2 with SLAM Toolbox

source install/setup.bash
ros2 launch turtlebot3-docker system.launch.py