README.md

Welcome to the repository for DTETI UGM's guide robot development, which integrates ROS-LLM and Nav2 packages. This repository is forked from the original Auromix/ROS-LLM.

To explore detailed information about:

• Nav2-LLM Integration: Visit the ROS-LLM nav2LLM.
• Nav2 config: Refer to the Nav2 ROS Wiki.

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✨ Quickstart Guide

1. Fork and Clone the Repository

First, fork this repository into your own GitHub account. Then, clone it to your local machine using the command below:

git clone https://github.com/your_github_account/llm-guide-robot.git

⚙️ Using the Framework with Nav2

To integrate the framework with your own robot, modify the llm_robot and llm_config packages to match your robot’s specifications. This customization allows you to define the behavior and control mechanisms for your robot.

Steps to Test with Nav2 System:

1. Source the workspace:

   source llm-guide-robot/install/setup.bash

2. Launch the Nav2 system:

   ros2 launch ros2ai navigation2.launch.py

3. Launch TurtleBot3 navigation:

   export TURTLEBOT3_MODEL=burger
   ros2 launch ros2ai turtlebot3_navigation.launch.py

4. Run Nav2 API Server:

   ros2 run ros2ai nav2_api_server

5. Run Nav2 GPT: Don't forget to change the .env path in load_dotenv(dotenv_path="/home/badri/nav2_gpt/.env")

   ros2 run ros2ai Nav2Chatgpt

6. Alternatively, test another Nav2 configuration:

   ros2 launch navigation navigation.launch.py

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Additional Notes

• Ensure all dependencies are correctly installed and sourced before launching any package.
• For troubleshooting or further details, refer to the original ROS-LLM and Nav2 documentation.

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Happy exploring!