Tortoisebot ROS2 Humble Release
Connect with Us • Installation • Setup • Demos
TortoiseBot
# Connect with us 
# 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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