WSL2 + ROS2 [Simulation_turtlebot3 - Navigation] (터틀봇3 네비게이션)

• 출처
• ROBOTIS e-Manual

- 준비물

: SLAM에서 실행한 map 정보에 대한 파일 (map.yaml)

Launch Simulation World

export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

Run Navigation Node

export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True map:=$HOME/map.yaml

Estimate Initial Pose

ros2 run turtlebot3_teleop teleop_keyboard

Set Navigation Goal