Human-driven-navigation-strategies-in-a-ROS2-environment

Installation

This guide will walk you through setting up the disaster_response_swarm package.

Requirements

• Ubuntu 22.04
• ROS 2 Humble Hawksbill
• Gazebo (ROS 2 integration)
• TurtleBot3 packages

Steps

1. Install ROS 2 Humble Desktop:

   sudo apt update
   sudo apt install ros-humble-desktop
   

2. Install dependencies:

   sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup   ros-humble-slam-toolbox ros-humble-gazebo-* ros-humble-turtlebot3* ros-humble-rviz2
   

3. Configure environment variables:

   echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
   echo "export TURTLEBOT3_MODEL=waffle" >> ~/.bashrc
   source ~/.bashrc
   

4. Clone and build the repository:

   mkdir -p ~/ros2_ws/src
   cd ~/ros2_ws/src
   git clone https://github.com/AmirMohaddesi/disaster_response_swarm.git
   cd ~/ros2_ws
   colcon build --symlink-install
   source install/setup.bash