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Use a TS3 Sensor for Mapping with a TurtleBot3

Description: Attaching a TS3 ultrasonic sensor to a TurtleBot3 Burger and mapping the environment with it

Keywords: Toposens, TS3, ultrasound, TurtleBot

Tutorial Level: INTERMEDIATE

Basic mapping of the environment with sensor_msgs/PointCloud2 can be done by orchestrating a TurtleBot3 Burger with a TS3 ultrasonic sensor.

Setup

This tutorial assumes that the TurtleBot3 Burger has already been setup, its onboard computer (Raspberry Pi) is running ROS Melodic e.g. on Ubuntu Mate 18.04 and its IP address is known (<turtlebot_ip>, e.g. 192.168.0.179).

Additionally it is assumed that either Ubuntu 16.04 with ROS Kinetic or Ubuntu 18.04 with ROS Melodic is used on the remote PC. It is also assumed that you have a catkin workspace and catkin tools are installed (both on the TurtleBot's onboard computer and the remote PC).

In order to access the TurtleBot's onboard computer, use SSH:

ssh pi@<turtlebot_ip>

Setup TurtleBot Packages

[On Remote PC]:

[On TurtleBot]:

Build Toposens Driver

[On Remote PC]:

[On TurtleBot]:

Enable Serial Port Permissions

[On TurtleBot]:

Connect TS3 Sensor

[On TurtleBot]:

Network Configuration

[On Remote PC]:

[On TurtleBot]:

Manipulate Parameters

See the previous tutorial for how to manipulate sensor parameters.

Do the Mapping

[On Remote PC]:

[On TurtleBot]:

[On Remote PC]:


2019-10-12 13:12