complier

Turtlebot3 Burger

manual

http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/#overview

book

• ROS Robot Programming (English) http://www.robotis.com/service/download.php?no=719

• ROS机器人编程 (中文) http://www.robotis.com/service/download.php?no=720

[Contents]

• Chapter 01 Robot Software Platform
• Chapter 02 Robot Operating System ROS
• Chapter 03 Configuring the ROS Development Environment
• Chapter 04 Important Concepts of ROS
• Chapter 05 ROS Commands
• Chapter 06 ROS Tools
• Chapter 07 Basic ROS Programming
• Chapter 08 Robot/Sensor/Motor
• Chapter 09 Embedded System
• Chapter 10 Mobile Robots
• Chapter 11 SLAM and Navigation
• Chapter 12 Service Robot
• Chapter 13 Manipulator

Source code

download code

cd ~/catkin_ws/src

git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

➜  src tree -L 2
.
├── CMakeLists.txt -> /opt/ros/melodic/share/catkin/cmake/toplevel.cmake
├── turtlebot3
│   ├── ISSUE_TEMPLATE.md
│   ├── LICENSE
│   ├── README.md
│   ├── turtlebot3
│   ├── turtlebot3_bringup
│   ├── turtlebot3_description
│   ├── turtlebot3_example
│   ├── turtlebot3_navigation
│   ├── turtlebot3_slam
│   └── turtlebot3_teleop
├── turtlebot3_msgs
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── LICENSE
│   ├── msg
│   ├── package.xml
│   └── README.md
└── turtlebot3_simulations
    ├── LICENSE
    ├── README.md
    ├── turtlebot3_fake
    ├── turtlebot3_gazebo
    └── turtlebot3_simulations

14 directories, 11 files

build

cd ~/catkin_ws
catkin_make

Simulation

start ros master

roscore &

setup robot type

export TURTLEBOT3_MODEL=burger

gazebo server

roslaunch turtlebot3_gazebo turtlebot3_world.launch

Test

roslaunch turtlebot3_gazebo turtlebot3_simulation.launch

Tele operation

http://emanual.robotis.com/docs/en/platform/turtlebot3/teleoperation/#teleoperation

keyboard

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

SLAM

http://emanual.robotis.com/docs/en/platform/turtlebot3/slam/

• gmapping
  • ROS WIKI, Github
• cartographer
  • ROS WIKI, Github
• hector
  • ROS WIKI, Github
• karto
  • ROS WIKI, Github
• frontier_exploration
  • ROS WIKI, Github

CODE

Gmapping slam code

git clone https://github.com/ros-perception/slam_gmapping.git
git clone https://github.com/ros-perception/openslam_gmapping.git

hector

https://github.com/tu-darmstadt-ros-pkg/hector_slam.git

RUN

gmapping slam

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=hector 

Save MAP

rosrun map_server map_saver -f ~/map

white is the free area in which the robot can move, black is the occupied area in which the robot can not move, and gray is the unknown area.

Navigation

download code

git clone https://github.com/ros-planning/navigation.git

git clone https://github.com/ros/geometry2.git 

run

roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

opencr

arduino

https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/turtlebot3/examples/turtlebot3_burger/turtlebot3_core/turtlebot3_core.ino