How to use Navigation 2 with my own Controller on a real TurtleBot 3 [closed]
Hello, My question is probably very basic because i'm still a beginner on ROS and TurtleBot.
I'm using Ubuntu 20.04 and ROS2 Foxy.
I currently have a TurtleBot 3 Burger which is working well (i can control it with my keyboard, create a map using the SLAM node and run the navigation node) thanks to this guide : https://emanual.robotis.com/docs/en/p...
So to run the navigation node i use :
ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=$HOME/map.yaml
Now i would like to test my own controller on the robot. This new controller is already working in simulation thanks to this guide : https://navigation.ros.org/plugin_tut...
I just needed to give a params file when launching the simulation, i used this command :
ros2 launch nav2_bringup tb3_simulation_launch.py params_file:=/path/to/your_params_file.yaml
The problem is that i can't do the same on the turtlebot3 in "real life" and i have no idea on how to do it. I couldn't find anything about it and i was wondering if you had any solutions, ideas or even clues about that.
Thanks a lot.
Why can't you do the same thing on a TB3 "in real life"?
Well actually, yes i totally can, that's my bad. I thought i couldn't do it because when i tried it wasn't working. I must have done something wrong. I tried again and the command went through with the params file i gave. I still have a problem with the AMCL so i can't try my controller yet but i will probably open a new topic. Should i delete the topic ? Thank you.