Welcome to the tb4_sim repository! This project provides a basic simulation environment for the Turtlebot4 robot using the Webots simulator. Whether you're new to robotic simulations or a seasoned researcher, this repository is designed to provide a solid foundation to experiment and develop using Turtlebot4 in a virtual environment.
- Turtlebot4 Model: A detailed model of the Turtlebot4 robot to accurately mimic its real-world counterpart's behavior and characteristics.
- Webots Integration: Leverages the power of Webots, a widely-used robot simulator, offering realistic physics and sensor models.
- Basic Environments: Simple scenarios are included to get started with testing and experimentation.
- Webots: Make sure you have Webots installed.
- ROS2 Humble
- Clone the Repository in a ROS ws:
git clone https://github.com/yourusername/tb4_sim.gitcolcon build --symlink-install
- Install the package:
colcon build --symlink-install
source install/setup.bash- Launch the simulation: I have prepared a complete launcher: it launch the world, spawns the robot and interfaces it with the drivers.
ros2 launch tb4_sim tb4_launcher.pyContributions are always welcome!
This project is licensed under GPLv3 License.
I would like to thank the Webots community for their extensive documentation and support, and the creators of Turtlebot4 for their open-source resources.
For any questions or feedback, please open an issue, I will get back to you as soon as possible.
Happy Simulating! 🤖🌐