Turtlebot_final_project

modified copy of Turtlebot3 SLAM Simulation tutorial.

Comes with maze world model file. Configured to find the file automatically without placing it in the default Gazebo model folder (.gazebo/models)

Spawns Turtlebot at center of maze (as defined in launch/my_world.launch)

To improve mapping performance, edit config/gmapping_params.yaml

To set up Git:

1. check if git is already installed: git --version
2. If not installed, follow this https://git-scm.com/book/en/v2/Getting-Started-Installing-Git (ignore the building from source stuff)
3. Install vscode: sudo snap install --classic code
4. Follow this to set up user.name,user.email: https://git-scm.com/book/en/v2/Getting-Started-First-Time-Git-Setup
5. Navigate to your ros workspace/src folder (catkin_ws/src or other) and git clone from my turtlebot_final_project repo

To run project:

1. Navigate to ws folder
2. Run: source devel/setup.bash
3. Run: roslaunch final_project my_world.launch
4. Run: roslaunch final_project slam.launch
5. To use teleop: roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch