# Tortoisebot ROS2 Humble Release # ![TortoiseBot Banner](https://github.com/rigbetellabs/tortoisebot_docs/raw/master/imgs/packaging/pack_front.png) ![stars](https://img.shields.io/github/stars/rigbetellabs/tortoisebot?style=for-the-badge) ![forks](https://img.shields.io/github/forks/rigbetellabs/tortoisebot?style=for-the-badge) ![watchers](https://img.shields.io/github/watchers/rigbetellabs/tortoisebot?style=for-the-badge) ![repo-size](https://img.shields.io/github/repo-size/rigbetellabs/tortoisebot?style=for-the-badge) ![contributors](https://img.shields.io/github/contributors/rigbetellabs/tortoisebot?style=for-the-badge) ---

Connect with Us • Installation • Setup • Demos

TortoiseBot

# Connect with us ![some-changes](https://img.shields.io/badge/some_changes-yellow) ![Website](https://img.shields.io/website?down_color=lightgrey&down_message=offline&label=Rigbetellabs%20Website&style=for-the-badge&up_color=green&up_message=online&url=https%3A%2F%2Frigbetellabs.com%2F) ![Discord Channel](https://img.shields.io/discord/890669104330063903?logo=Discord&style=for-the-badge) ![Youtube Subscribers](https://img.shields.io/youtube/channel/subscribers/UCfIX89y8OvDIbEFZAAciHEA?label=YT%20Subscribers&style=for-the-badge) ![Instagram](https://img.shields.io/badge/Follow_on-Instagram-pink?style=for-the-badge&logo=appveyor?label=Instagram) # 1. Installation ## 1.1 Required Dependences: ``` sudo apt install ros-humble-joint-state-publisher ros-humble-robot-state-publisher ros-humble-cartographer ros-humble-cartographer-ros ros-humble-gazebo-plugins ros-humble-teleop-twist-keyboard ros-humble-teleop-twist-joy ros-humble-xacro ros-humble-nav2* ros-humble-urdf ``` ``` cd ~/your workscpace colcon build ``` ## 1.2 Clone this repo Make sure you clone the repo in your robot and your remote PC ``` git clone -b ros2-humble https://github.com/rigbetellabs/tortoisebot.git ``` ``` cd ~/your workscpace colcon build ``` # 2. Setup - Run bringup.launch.py to only spawn the robot - Run autobringup.launch.py to spawn the robot with navigation and slam/localization - Launch the files with use_sim_time:=False when working on real robot ### 2.1 Launching the robot ``` ros2 launch tortoisebot_bringup autobringup.launch.py use_sim_time:=True exploration:=True ``` - exploration:=False for passed a saved map to navigation ### 2.2 Launch files for reference #### SLAM - cartographer.launch.py #### Navigation - navigation.launch.py #### Rviz - rviz.launch.py #### Gazebo - gazebo.launch.py ### 2.3 Remote PC While performing colcon build on remote-pc please add the below to ignore `ydlidar_sdk, ydlidar_ros2_driver, v4l2_camera` since lidar will not be connected to remote-pc. ``` colcon build --packages-ignore ydlidar_sdk ydlidar_ros2_driver v4l2_camera ``` # 3. Demos # The TortoiseBot 🐢🤖 The ReadMe is divided into several sections as per different topics and is constantly been updated and maintained with new updates by our talented and dedicated 👥 Team at RigBetel Labs LLP. So don't forget to often come here and check on it for the latest and greatest software updates, projects & skills for your TortoiseBot. Also don't forget to 🌟 Star this repository on top-right corner of the screen to show your 💖 Love and Support 🤗 for our Team. 🤩 It will make us happy and encourage us to make and bring more such projects for you. 😍 Click [here](https://github.com/rigbetellabs/tortoisebot/wiki/1.-Getting-Started) to get started. 1. [Getting Started](https://github.com/rigbetellabs/tortoisebot/wiki/1.-Getting-Started) 2. [Hardware Assembly](https://github.com/rigbetellabs/tortoisebot/wiki/2.-Hardware-Assembly) 3. [TortoiseBot Setup](https://github.com/rigbetellabs/tortoisebot/wiki/3.-TortoiseBot-Setup) 4. [Server PC Setup](https://github.com/rigbetellabs/tortoisebot/wiki/4.-Server-PC-Setup) 5. [Running Demos](https://github.com/rigbetellabs/tortoisebot/wiki/5.-Running-Demos) [Join](https://discord.gg/qDuCSMTjvN) our community for Free. Post your projects or ask questions if you need any help. ## TortosieBot is sourced, assembled, made & maintained by our team 🧑🏻‍🤝‍🧑🏻 at
RigBetel Labs LLP®, Charholi Bk., via. Loheagaon, Pune - 412105, MH, India 🇮🇳
🌐 [RigBetelLabs.com](https://rigbetellabs.com) 📞 [+91-8432152998](https://wa.me/918432152998) 📨 getintouch.rbl@gmail.com , info@rigbetellabs.com
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