TurtleBot3 GUI

Objective :

This project implements a ROS2-based autonomous navigation system using TurtleBot3 in a custom Gazebo world.

A user can select one or more predefined waypoints from a custom GUI, and the robot autonomously navigates to them in order, then returns to its home position.

Key Features

• Select single or multiple waypoints via GUI.
• Robot navigates autonomously to selected stations in order.
• Automatic return to home position after completion.
• Live navigation status updates (Navigating, Reached, Failed).
• Stop/Cancel button for manual interruption.
• Error handling for blocked paths or failed navigation attempts.
• Single launch file to start all components.

Map

Custom GUI

Demos

Watch on 2x for better experience.

Single waypoint navigation and return to Home.

Multi-waypoint navigation and return to Home.

System Requirement :

• Ubuntu 24.04
• ROS2 Jazzy
• Gazebo Sim Harmonic

Installation & Setup

1. Install ROS 2 Dependencies

sudo apt update && sudo apt upgrade
sudo apt install ros-jazzy-turtlebot3*
sudo apt install ros-jazzy-navigation2 ros-jazzy-nav2-bringup

Important

This package is missing from nav2 stack, might be fixed in upcoming ROS2 updates

sudo apt-get install ros-jazzy-nav2-route

2. Clone the Project

cd
mkdir -p tbot3_ws/src
cd ~/tbot3_ws/src
git clone https://github.com/GJR-DHRL/TurtleBot3_GUI.git .

3. Build the Workspace

cd ~/tbot3_ws
colcon build
source install/setup.bash

Launch

Made launch file to start whole project at once :

ros2 launch tbot3_bringup tbot3.launch.py 

Author

Dhvaril Gajjar
Robotics Engineer • ROS2 Developer

“Engineering should not only function — it should inspire.”