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Welcome to the icclab_turtlebot wiki!

The repository has the base scripts for the different robots (Turtlebot 2 and 3) at ICCLab.

This repository consists of a number of branches, depending on what you want to do:

• indigo: this contains packages that are targeted for the ROS indigo release
  • this is NO longer active
• kinetic: this contains packages that are targeted for the ROS kinetic release
• turtlebot2: this contains packages that are used to control the Turtlebot 2 robotic hardware
• turtlebot3: this contains packages that are used to control the Turtlebot 3 robotic hardware

Branch: turtlebot2

This branch contains all the files required for the bring up of the TurtleBot 2 and the navigation stack. Original files come from https://github.com/turtlebot/turtlebot and https://github.com/turtlebot/turtlebot_apps/tree/indigo/turtlebot_navigation

If you need to understand how to setup your Turtlebot 2 as we have then see the build instructions.

Bring up

If rplidar node is running: roslaunch icclab_turtlebot minimal.launch

Otherwise: roslaunch icclab_turtlebot minimal_with_rplidar.launch

AMCL with default parameters: roslaunch icclab_turtlebot amcl_demo.launch

AMCL with custom parameters: roslaunch icclab_turtlebot amcl_icclab.launch

Description of files

launch

3dsensor.launch

• starts up the 3d sensor
• default is set to kinect camera

amcl_demo.launch

• launch file used in the TurtleBot navigation tutorials
• uses default navigation stack parameters
• amcl observation sources: scan (published by camera and rplidar if running) and bump (published by mobile base)
• NOTE: this is a good starting point for testing the navigation stack as it uses the default configuration

amcl_icclab.launch

• uses custom navigation stack parameters in param directory of this repository
• amcl observation sources: scan3d (published by camera), scan (published by rplidar), and bump (published by mobile base)

filter.launch

• custom made filter aimed to remove nonexistent points in the LaserScan of the rplidar due to reflections

minimal_amcl.launch

• launch file used in the webapp navigation demo using amcl and map server
• NOTE: rplidar node needs to be running beforehand

minimal_exploration.launch

• launch file used in the webapp exploration demo using cartographer
• NOTE: rplidar node needs to be running beforehand

meshes

Encodes the necessary physical properties of an object to represent the rplidar laser scanner.

param

Documentation that describe the parameters in the navigation stack.

• http://wiki.ros.org/move_base
• http://wiki.ros.org/costmap_2d/flat
• http://wiki.ros.org/base_local_planner
• http://wiki.ros.org/global_planner

Most parameters were set based on this paper http://kaiyuzheng.me/documents/navguide.pdf

Clearing and marking of obstacles on local costmap:

• kinect camera can both mark and clear obstacles
• rplidar can only clear obstacles
• bumper can only mark obstacles

robots

Contains the urdf files that gives the description of the robot. Custom made urdf file for current configuration is turtlebot.urdf.xacro.

root_files

Contains the files that need to be copied over to the root file system to enable the rplidar node to start on boot up as a daemon.