[Documentation] [TitleIndex] [WordIndex

Only released in EOL distros:  

clearpath_turtlebot: turtlebot_kinect | turtlebot_rndmwalk | turtlebot_train

Package Summary

A small demo application to get your TurtleBot moving around autonomously. The random behaviour of the robot causes it to switch between driving left, straight and right. After detecting an obstacle, the robot will stop and turn for a random period of time before attempting to continue motion.

clearpath_turtlebot: turtlebot_kinect | turtlebot_rndmwalk | turtlebot_train

Package Summary

A small demo application to get your TurtleBot moving around autonomously. The random behaviour of the robot causes it to switch between driving left, straight and right. After detecting an obstacle, the robot will stop and turn for a random period of time before attempting to continue motion.

clearpath_turtlebot: turtlebot_kinect | turtlebot_rndmwalk | turtlebot_train

Package Summary

A small demo application to get your TurtleBot moving around autonomously. The random behaviour of the robot causes it to switch between driving left, straight and right. After detecting an obstacle, the robot will stop and turn for a random period of time before attempting to continue motion.

clearpath_turtlebot: turtlebot_kinect | turtlebot_rndmwalk | turtlebot_train

Package Summary

A small demo application to get your TurtleBot moving around autonomously. The random behaviour of the robot causes it to switch between driving left, straight and right. After detecting an obstacle, the robot will stop and turn for a random period of time before attempting to continue motion.

Hardware Requirements

You'll need a TurtleBot! Don't have one yet?

Instructions

Installation

  1. Make sure you have the OpenNI Kinect Driver Installed:
    sudo apt-get install ros-diamondback-openni-kinect
  2. You'll also need to checkout the following Clearpath Packages:
    svn co http://clearpath-ros-pkg.googlecode.com/svn/trunk/clearpath_kinect ~/clearpath-ros-pkg/clearpath_kinect
    svn co http://clearpath-ros-pkg.googlecode.com/svn/trunk/clearpath_turtlebot ~/clearpath-ros-pkg/clearpath_turtlebot
  3. Add the following line to your '.bashrc' if it does not already exist:
    export ROS_PACKAGE_PATH=${HOME}/clearpath-ros-pkg:${ROS_PACKAGE_PATH}
  4. Compile all Clearpath Stacks:
    rosmake clearpath_kinect
    rosmake clearpath_turtlebot

Demo

Make sure the robot starts with a good amount of floor area in it's view so that it can properly calibrate the floor plane.

Use the launch file

The robot will randomly switch between moving left, straight and right. In addition the robot will stop when detecting an obstacle and turn for a random period of time before continuing safe motion. The below video shows what you should expect.

http://www.youtube.com/watch?v=P4tag8NouLA

Nodes

ClearpathTurtleRndmWalk

ClearpathTurtleRndmWalk is a ROS node that reads a frame from the Kinect PointCloud and generates a safe random motion output.

Subscribed Topics

rndmwalk_in(~in) (sensor_msgs/PointCloud2)

Published Topics

rndmwalk_out_vel(~out_vel) (geometry_msgs/Twist)

Parameters

~in (string, default: "rndmwalk_in") ~out_vel (string, default: "rndmwalk_out_vel") ~lin_speed (double, default: 0.3) ~ang_speed (double, default: 0.75) ~still_ang_speed (double, default: 2.0) ~cam_height (double, default: 0.3) ~stop_distance (double, default: 0.8) ~stop_point_count (int, default: 50)

2019-11-30 13:21