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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  • this is NO longer active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
• summit_xls: this contains packages that are used to control the Robonik Summit XL Steel robotic hardware

Branch: turtlebot2

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

Otherwise, this branch (turtlebot2) 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

See here for the complete documentation on the Turtlebot 2 package.

Branch: turtlebot3

TODO

Branch: summit_xls

This branch allows for simulated and in-the-real work with the Robotnik Summit XL Steel robot.

Model

• The lidar scanners are Scanse.io ones but uses a Hokuyo UTM 30LX model but using a Scanse mesh.
• Attached to the robotic base is a UR5 arm.

Simulation

• The robot is configured with 2 lidar sensors that publish to one topic laser/scan.
• To launch the simulation: roslaunch icclab_turtlebot irlab_sim_summit_xls_complete.launch.

In-The-Real (ITR)

• To launch the base in the real: roslaunch icclab_turtlebot irlab_summit_xl_complete.launch
• This launch file assumes two Scanse LIDARs attached. These LIDARs have static udev rules to correspond to /dev/front_lidar and /dev/rear_lidar.
  • To set the static names the following rules are set in the file /etc/udev/rules.d/99-persistent-lidar-usb.rules(note ATTRS{serial} is physical device-specific):
    • SUBSYSTEM=="tty", ATTRS{serial}=="DM00LKUX", SYMLINK="front_lidar", GROUP="dialout", MODE="0666", OWNER="summit"
    • SUBSYSTEM=="tty", ATTRS{serial}=="DO004TUJ", SYMLINK="rear_lidar", GROUP="dialout", MODE="0666", OWNER="summit"
• Each LIDAR's scan is a point cloud that is converted to a laser scan. Each LIDAR scan is published on to a separate topic (/summit_xl/scan_front and /summit_xl/scan_rear respectively). Note: If there are no subscribers to these topics, no messages will be seen upon them.