Simple ROS package that show cases turtlebot3 following an person in Gazebo simulation.
clone this repository under catkin_wd/src an build your workspace with catkin_make.
Refer to following commands to install deps.
sudo apt install ros-noetic-ros-numpy
sudo apt install ros-noetic-turtlebot3*
pip3 install open3d
pip3 install transforms3d
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/$USER/catkin_ws/src/tel280_perception_pkg/models
sudo apt install ros-noetic-slam-toolbox*
rosservice call /slam_toolbox/save_map "name:
data: '/home/$USER/map.pgm'"
roslaunch tel280_perception_pkg slam.launch
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
For slam localization, drive the robot around a litlle, set the initial pose, then deserialize the map.
You can launch the person following node with;
roslaunch tel280_perception_pkg person_follow.launch rostopic pub -1 /stop std_msgs/Bool "data: true"