RoME26

Lab Samples Logistics Mission Example

Dependencies

ROS2 Humble Gazebo Ignition Fortress ROS2 Humble turtlebot4 packages

Installation

1. Install ROS2 Humble for Ubuntu 22.04 ROS2 Humble Documentation
2. Follow the turtlebot4 documentation for simulations: Turtlebot4 Documentation
3. Install the packages:

cd ros_pkg
source /opt/ros/humble/setup.bash
colcon build
source install/setup.bash

Running the Simulation

1. Run gazebo:

ros2 launch gazebo_simulation tb4_sim_bringup.launch.py

1. Set robot initial pose for navigation (can also be done through RVIZ):

ros2 run gazebo_simulation set_initial_pose --ros-args -p namespace:=robot1 x:=0.0 y:=0.0

1. Execute behavior tree

ros2 launch behavior_trees execute_bt.launch.py bt:=/path/to/behavior_tree

Example:

ros2 launch behavior_trees execute_bt.launch.py bt:=/sim_ws/src/behavior_trees/behavior_trees/samples_delivery.xml