Shared Control Nav for TurtleBot3

This package implements a shared-control navigation system for a TurtleBot3 using ROS 2 Jazzy. The robot can be driven manually, assisted by safety filtering, or automatically recovered when it reaches the edge of its operating area.

Requirements

• ROS 2 Jazzy
• TurtleBot3
• twist_mux

To install twist_mux:

sudo apt install ros-jazzy-twist-mux

Build

From the ROS 2 workspace root:

cd ~/ros2_ws
colcon build --packages-select shared_control_nav
source install/setup.bash

Run

1. Connect to and bring up the TurtleBot3.

2. Launch the shared-control system:

   ros2 launch shared_control_nav shared_control.launch.py

3. In a second terminal, run the custom teleop node:

   source ~/ros2_ws/install/setup.bash
   ros2 run shared_control_nav shared_teleop

4. Optional: in a third terminal, run the status monitor:

   source ~/ros2_ws/install/setup.bash
   ros2 run shared_control_nav status_monitor

Controls

w/x : increase/decrease linear speed
a/d : increase/decrease angular speed
s or space : stop

1 : manual mode
2 : assisted mode
3 : recovery mode

CTRL-C : quit

Modes

• Manual: passes teleop commands through normally.
• Assisted: filters teleop commands using LiDAR and odometry.
• Recovery: drives toward the nearest recovery point, then returns to assisted mode.