turtlebot学习记录for ros

具体参考：http://wiki.ros.org/Robots/TurtleBot

1. 安装：

sudo apt-get install ros-hydro-turtlebot ros-hydro-turtlebot-apps ros- hydro-turtlebot-viz ros-hydro-turtlebot-simulator ros-hydro-kobuki-ftdi> . /opt/ros/hydro/setup.bash

rosrun kobuki_ftdi create_udev_rules

环境配置： echo "source /opt/ros/hydro/setup.bash" >> ~/.bashrc

注： wstool provides commands to manage several local SCM repositories

(supports git, mercurial, subversion, bazaar) based on a single

workspace definition file (.rosinstall).

wstool replaces the rosws tool for catkin workspaces.

wstool is not a rewrite. It is intended to reuse most of the rosws

tool code and thus also produce .rosinstall files that are compatible with those used by rosws.

创建工作空间

> mkdir ~/turtlebot

> cd ~/turtlebot

> wstool init src https://raw.github.com/turtlebot/turtlebot/hydro/turtlebot.rosinstall -j8

> source /opt/ros/hydro/setup.bash

> rosdep install --from-paths src -i -y

> catkin_make

kobuki :

source ~/turtlebot/devel/setup.bash

> rosrun kobuki_ftdi create_udev_rules

echo "source ~/turtlebot/devel/setup.bash" >> ~/.bashrc

Network Time Protocol

Install Chrony

sudo apt-get install chrony

manually sync NTP

sudo ntpdate ntp.ubuntu.com

网络配置：（无工作站就可不用设）

2. bringup

Deb Bringup Instructions

> source /opt/ros/hydro/setup.bash

# Without the app manager/android capabilities

> roslaunch turtlebot_bringup minimal.launch

# Launching with the app manager

> roslaunch turtlebot_bringup minimal_with_appmanager.launch

# For dual master app manager/android connectivity

> rocon_launch turtlebot_bringup bringup.concert

Create dashboard

rqt -s kobuki_dashboard

> roslaunch turtlebot_dashboard turtlebot_dashboard.launch

3. 维护与保养 （dashboard）

Power Management

4.3D Visualisation（显示）

roslaunch turtlebot_bringup minimal.launch

roslaunch turtlebot_bringup 3dsensor.launch

roslaunch turtlebot_rviz_launchers view_robot.launch

选中： DepthCloud Registered DepthCloud Image PointCloud Registered PointCloud

5. 键盘控制

roslaunch turtlebot_teleop keyboard_teleop.launch

6 交互式标记控制 Interactive Markers Teleop

安装：

sudo apt-get install ros-hydro-turtlebot-interactive-markers

服务：turtlebot_marker_server：

roslaunch turtlebot_interactive_markers interactive_markers.launch

rviz：

roslaunch turtlebot_rviz_launchers view_robot.launch

控制方法：

勾中"Interactive Makers" ，选中面板工具顶部 "Interact"

7.校正：（ http://wiki.ros.org/turtlebot_calibration/Tutorials/Calibrate%20Odometry%20and%20Gyro ）

roslaunch turtlebot_calibration calibrate.launch

（First position TurtleBot at the center of a long straight wall (at least 2 meters long)rosrun rqt_reconfigure rqt_reconfigure , facing towards the wall, at about 30 cm away from the wall. ）



set the parameters ：

rosrun rqt_reconfigure rqt_reconfigure

高级应用：导航

8 使用gmapping建图：SLAM Map Building with TurtleBot

8.1导航功能介绍 Setup the Navigation Stack for TurtleBot

网址：http://wiki.ros.org/turtlebot_navigation/Tutorials/Setup%20the%20Navigation%20Stack%20for%20TurtleBot

Key files： turtlebot_navigation package

Move base：Planner

Change speed limits

Goal tolerance

Cost computing biases

Amcl (localization)

Gmapping (map building)

8.2 Launch the gmapping app

Bring up the robot

roslaunch turtlebot_bringup minimal.launch

Run the gmapping demo app

roslaunch turtlebot_navigation gmapping_demo.launch

Launch rviz:

# Groovy or later

roslaunch turtlebot_rviz_launchers view_navigation.launch

Drive the robot and Save the map

rosrun map_server map_saver -f /tmp/my_map

9 自动导航 （http://wiki.ros.org/turtlebot_navigation）

Autonomous Navigation of a Known Map with TurtleBot

This tutorial describes how to use the TurtleBot with a previously known map.

启动;

roslaunch turtlebot_bringup minimal.launch

运行导航DEMO并加载地图

roslaunch turtlebot_navigation amcl_demo.launch map_file:=/tmp/my_map.yaml

RVIZ显示

# Groovy or later

roslaunch turtlebot_rviz_launchers view_navigation.launch --screen

9.1导航操作：

1. 定位turtlebot（初始化）: 2D Pose Estimate

2. 远程操作:可以与导航同时进行。远程控制优先级高于导航。

3. 发送目标：2D Nav Goal

注：如果要在导航目标到达前让他停止，发送短一点到目标。

10 跟随 （http://wiki.ros.org/turtlebot_follower）

寻找窗口前方的目标，寻找质心并保持相应距离跟随。

10.1 跟随参数到更改

# groovy or later

rosrun rqt_reconfigure rqt_reconfigure

Select camera/follower on the reconfigure gui

Play with the parameters using the sliders; you will see the TurtleBot's following behavior change as you move the sliders.

11 全景演示 The TurtleBot Panorama Demo

(http://wiki.ros.org/turtlebot_panorama)

Turtlebot-Android Pairing

(http://wiki.ros.org/turtlebot_android/Tutorials/hydro/Turtlebot-Android%20Pairing)

turtlebot_android(http://wiki.ros.org/turtlebot_android)