A few quick-fixes we need to do before moving ahead.
sudo apt update
sudo apt install ros-humble-rmw-cyclonedds-cpp
After installing this package, we need to tell ROS that we will be using this DDS! To do so, we will go to our bashrc and edit it.
gedit ~/.bashrc
and add an export line, like this
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
This is what my file looks like. Yours will look different. You can add line 120 anywhere in this file.
So basically, there is an issue with the map and the navigation that is not currently working properly for ROS2 right now. The fix is to change to cyclone-dds which make things work much better.
cd /opt/ros/humble/share/turtlebot3_navigation2/param/
After going inside this directory, we want to edit the parameters of Waffle file, as we are using that turtlebot.
sudo gedit waffle.yaml
Here, we need to update the robot_model_type parameter. You don’t have to delete that line, just comment it the same way you comment in Python, and add the new parameter in the next line.
# robot_model_type: "differential"
robot_model_type: "nav2_amcl::DifferentialMotionModel"
This is what the file would look like:
Great, that is it. Just make sure you have put everything exactly as mentioned. Even a small typo could affect this.
In a new terminal, launch
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py