[Documentation] [TitleIndex] [WordIndex

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

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

  1. Installation

    Installation instructions from iso, deb or sources.

  2. Post-Installation Setup

    Customised configuration for your robot setup.

  3. Workstation Installation

    Installing the software for your monitoring workstation pc.

  4. Network Configuration

    Get turtlebot and your workstation chatting to each other.

Getting Started

Bringup

  1. TurtleBot Bringup

    How to start the TurtleBot software.

  2. TurtleBot Care and Feeding

    This tutorials explains how to charge and maintain your TurtleBot.

  3. 3D Visualisation

    Visualising 3d and camera data from the kinect/asus.

Teleoperation

  1. Keyboard Teleop

    Keyboard teleoperation of a turtlebot.

  2. Joystick Teleop

    Joystick teleoperation of a turtlebot.

  3. Interactive Markers Teleop

    A tutorial describing how to use rviz interactive markers for controlling the TurtleBot.

Calibration

  1. 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

Navigation

  1. Setup the Navigation Stack for TurtleBot

    Provides a first glimpse of navigation configuration for your robot, with references to other much more comprehensive tutorials.

  2. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  3. Autonomous Navigation of a Known Map with TurtleBot

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

Something Funny

  1. The TurtleBot Follower Demo

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

  2. The TurtleBot Panorama Demo

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

Interesting Software

  1. The TurtleBot Panorama Demo

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

Android

  1. 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.

Contributing

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


2020-08-01 12:25