Robots/TurtleBot/groovy

ROS Software Maintainers: Tully Foote, Melonee Wise/Michael Ferguson (Unbounded Robotics), , Daniel Stonier (Yujin Robot)

Contents

Overview
Installation
Getting Started
Advanced Usage
Android
Support
Contributing
Library Overview

Overview

This information is a first draft for running turtlebot on either a Create or a Kobuki. If you find problems or outright lies (there is alot of mashed history seeping through!), please fix directly or raise the issue on the turtlebot sig mailing list.

Installation

Installation
Installation instructions from iso, deb or sources.
Post-Installation Setup
Customised configuration for your robot setup.
Workstation Installation
Installing the software for your monitoring workstation pc.
Network Configuration
Get turtlebot and your workstation chatting to each other.

Getting Started

Bringup

TurtleBot Bringup
How to start the TurtleBot software.
TurtleBot Care and Feeding
This tutorials explains how to charge and maintain your TurtleBot.
3D Visualisation
Visualising 3d and camera data from the kinect/asus.

Teleoperation

Keyboard Teleop
Keyboard teleoperation of a turtlebot.
Joystick Teleop
Joystick teleoperation of a turtlebot.
Interactive Markers Teleop
A tutorial describing how to use rviz interactive markers for controlling the TurtleBot.

Calibration

TurtleBot Odometry and Gyro Calibration
$/!\$ Only necessary if you have a Create base which is using an external gyro. This will show you how to calibrate or test the calibration of a TurtleBot which is highly recommended when running any navigation based application.

Advanced Usage

Setup the Navigation Stack for TurtleBot
Provides a first glimpse of navigation configuration for your robot, with references to other much more comprehensive tutorials.
SLAM Map Building with TurtleBot
How to generate a map using gmapping
Autonomous Navigation of a Known Map with TurtleBot
This tutorial describes how to use the TurtleBot with a previously known map.

Something Funny

The TurtleBot Follower Demo
This describes how to run the TurtleBot Follower Demo on your TurtleBot.
The TurtleBot Panorama Demo
This describes how to run the TurtleBot Panorama Demo on your TurtleBot.

Interesting Software

The TurtleBot Panorama Demo
This describes how to run the TurtleBot Panorama Demo on your TurtleBot.

Android

How to control your TurtleBot from an Android device
This will walk you through how to control your TurtleBot from an Android phone or tablet.

Support

For questions about software, please use the standard ways to get support for ROS.

Questions to ros answers with the tag "turtlebot".
General discussions happen on the sig mailing list (<ros-sig-turtlebot AT googlegroups DOT com>)
Bug reports and pull requests to github.
Hardware Troubleshooting

Contributing

Software Development - outlines the git based pull-request workflow through which we accept software contributions.
Do you want to create your own Android applications to control TurtleBot? These tutorials tell you how!
Documentation - any effort to help make this wiki documentation clearer will of course, always be appreciated.

Library Overview

Basic Configuration

Capability	ROS package
Robot-specific Messages	kobuki_msgs/create_node
Robot model (URDF)	turtlebot_description/kobuki_description/create_description

Hardware Drivers

Component	ROS package
Actuator Drivers	kobuki_driver/create_driver
Mobile Base Nodes	kobuki_node/create_node/turtlebot_bringup
Sensor Drivers	openni_camera, depthimage_to_laserscan

High-Level Capabilities

Component	ROS package
Navigation	turtlebot_navigation
Teleop	turtlebot_teleop
Interactive Markers	turtlebot_interactive_markers
Visualization	turtlebot_rviz_launchers/turtlebot_dashboard

Application Framework

Component	ROS package
App Manager	turtlebot_app_manager
Turtlebot Apps	turtlebot_apps
Android Apps	turtlebot_android

Coming Soon

Not yet available, but in the works!

Component	ROS package
Simulation	turtlebot_simulator
Manipulation	turtlebot_arm