Turtlebot4 Simulation Docker

This project provides a containerized simulation environment for the TurtleBot4 robot in a warehouse world using ROS 2 and Gazebo Harmonic. It includes navigation using Nav2, localization, path planning, waypoint following, behavior trees, and visualization in RViz.

Requirements

• Docker/Compose
• xhost (for GUI access from containers)
• Linux (amd64 or arm64, auto-detected)
• NVIDIA GPU (optional, for Gazebo acceleration)

🐳 Launch (Docker)

Clone the Repository to your workspace, build the docker images and start:

git clone <repo-address>
cd turtlebot4_simulation/docker
make