Tortoisebot ROS2 Humble Ignition Release

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Connect with Us • Installation • Setup • Demos

TortoiseBot

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1. Installation

1.1 Required Dependencies:

sudo apt install \
  ros-humble-joint-state-publisher \
  ros-humble-robot-state-publisher \
  ros-humble-cartographer \
  ros-humble-cartographer-ros \
  ros-humble-teleop-twist-keyboard \
  ros-humble-teleop-twist-joy \
  ros-humble-xacro \
  ros-humble-nav2-bringup \
  ros-humble-navigation2 \
  ros-humble-urdf \
  ros-humble-robot-localization \
  ros-humble-ros-gz-bridge \
  ros-humble-ros-gz-sim \
  ros-humble-ros-gz-interfaces

1.2 Clone this repo

Make sure you clone the repo in your robot and your remote PC

mkdir -p ~/tb_ws/src && cd ~/tb_ws/src
git clone -b ros2-humble https://github.com/rigbetellabs/tortoisebot.git

cd ~/tb_ws
colcon build
source install/setup.bash

2. Setup

• Use autobringup.launch.py as the single entry point for all modes (simulation and real robot)
• Set use_sim_time:=True for Ignition Gazebo simulation, use_sim_time:=False for real robot
• Set exploration:=True for SLAM mapping, exploration:=False for navigation on a saved map

2.1 Launching the robot

Simulation — SLAM (build a map):

ros2 launch tortoisebot_bringup autobringup.launch.py use_sim_time:=True exploration:=True

Simulation — Navigation on a saved map:

ros2 launch tortoisebot_bringup autobringup.launch.py use_sim_time:=True exploration:=False map_file:=/path/to/your_map.yaml

Real Robot — SLAM (build a map):

ros2 launch tortoisebot_bringup autobringup.launch.py use_sim_time:=False exploration:=True

Real Robot — Navigation on a saved map:

ros2 launch tortoisebot_bringup autobringup.launch.py use_sim_time:=False exploration:=False map_file:=/path/to/your_map.yaml

Save a map after SLAM exploration:

ros2 launch tortoisebot_navigation save_map.launch.py map_name:=/path/to/your_map

2.2 Launch files for reference

Main Bringup

• autobringup.launch.py — all-in-one launch (sim + real, SLAM + nav)
• bringup.launch.py — simulation only (no nav stack)

SLAM

• cartographer.launch.py — Cartographer SLAM node

Navigation

• navigation_slam.launch.py — Nav2 stack for use during SLAM
• navigation_mapbased.launch.py — Nav2 stack with AMCL on a saved map
• save_map.launch.py — save the current Cartographer map to disk

Visualisation

• rviz.launch.py

Ignition Sim

• ignition_sim.launch.py — Ignition Gazebo simulation

Gazebo Classic

• gazebo.launch.py — Gazebo Classic simulation

2.3 Remote PC

When performing colcon build on a remote PC, ignore the hardware-specific packages since the LiDAR and camera will not be connected:

colcon build --packages-ignore ydlidar_sdk ydlidar_ros2_driver v4l2_camera tortoisebot_firmware tortoisebot_imu

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 to get started.

1. Getting Started
2. Hardware Assembly
3. TortoiseBot Setup
4. Server PC Setup
5. Running Demos

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TortosieBot is sourced, assembled, made & maintained by our team 🧑🏻‍🤝‍🧑🏻 at

RigBetel Labs LLP®, Charholi Bk., via. Loheagaon, Pune - 412105, MH, India 🇮🇳
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