TurtleBot3 Workspace

ROS 2 workspace for TurtleBot3 exploration, HAZMAT detection, and custom mechanism control.

Project Layout

.
|- src/                         # ROS 2 packages only
|  |- explore_cpp
|  |- turtlebot3_explore
|  |- turtlebot3_poi_navigation
|  |- laser_scan_adjuster
|  |- motor_position_controller
|  |- joint_state_publisher_custom
|  |- hazmat_marker
|  '- HAZMAT_Detection/         # Git submodule
|- maps/                        # Occupancy maps (.pgm/.yaml)
|- models/                      # Robot models (URDF)
|- tools/                       # Standalone scripts/utilities
|- docs/                        # Logs and diagrams
'- data/                        # Numeric datasets

Prerequisites

• ROS 2 (recommended: Humble)
• colcon, vcstool, Python 3
• Navigation stack dependencies used by the packages (nav2, slam_toolbox, etc.)

Clone and Setup

git clone --recurse-submodules https://github.com/<your-user>/TurtleBot3.git
cd TurtleBot3

If you already cloned without submodules:

git submodule update --init --recursive

Build

colcon build --symlink-install
source install/setup.bash

Typical Run Flow

1. Start robot bringup (on TurtleBot or simulation).
2. Start SLAM:

ros2 launch slam_toolbox online_async_launch.py use_sim_time:=false

3. Start navigation:

ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=false use_amcl:=true

4. Start exploration:

ros2 launch turtlebot3_explore explore_launch.py

5. Start HAZMAT pipeline:

ros2 run camara camara_server
ros2 run camara camara_client
ros2 run hazmat_marker hazmat_marker

Useful Components

• Exploration (Python): turtlebot3_explore
• Exploration (C++): explore_cpp
• POI navigation UI: turtlebot3_poi_navigation
• Scan adapter: laser_scan_adjuster
• Motor/joint utilities: motor_position_controller, joint_state_publisher_custom

Notes

• Build artifacts (build/, install/, log/, src/build/, src/install/, src/log/) are intentionally excluded from version control.
• The HAZMAT camera package depends on the HAZMAT_Detection submodule and external model assets.