TurtleBot-Tutorial

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Installation dependence

sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-dynamixel-sdk ros-kinetic-dynamixel-workbench-toolbox ros-kinetic-ar-track-alvar ros-kinetic-ar-track-alvar-msgs ros-kinetic-industrial-core libsdl1.2-dev libsdl-image1.2-dev

Workstation_Setup

mkdir -p ~/turtlebot_ws/src
cd ~/turtlebot_ws/src
git clone https://github.com/GJXS1980/TurtleBot-Tutorial.git
git clone https://github.com/GJXS1980/slam_gmapping.git
git clone https://github.com/GJXS1980/navigation.git
cd ~/turtlebot_ws
catkin_make
echo "source ~/turtlebot_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

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Tutorial 1 TurtleBot3 Simulation using Fake Node

1.首先在.bashrc添加下面代码

export TURTLEBOT3_MODEL=${TB3_MODEL}
export TURTLEBOT3_MODEL=waffle_pi
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:~/turtlebot/src/turtlebot3/turtlebot3_gazebo_plugin/build
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot/src/turtlebot3/turtlebot3_gazebo_plugin/models

在终端输入

source .bashrc

使环境生效

2.在rviz上仿真

调出TurtleBot3机器人模型

roslaunch turtlebot3_fake turtlebot3_fake.launch

使TurtleBot3可以通过键盘控制

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

3.使用gazebo模拟TurtleBot3

(1)调出TurtleBot3机器人模型

roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

(2)urtleBot3世界

TurtleBot3 world是由构成TurtleBot3符号形状的简单对象组成的地图。TurtleBot3世界主要用于SLAM和导航等测试。

roslaunch turtlebot3_gazebo turtlebot3_world.launch

(3)TurtleBot3房子

TurtleBot3 House是用房屋图纸制作的地图。它适用于涉及更复杂任务性能的测试。

roslaunch turtlebot3_gazebo turtlebot3_house.launch

4.在gazebo上驱动TurtleBot3

(1)遥控操作

为了使用键盘控制TurtleBot3，请在新的终端窗口中使用以下命令启动遥控操作功能

roslaunch turtlebot3_gazebo turtlebot3_house.launch

打开新终端

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

(2)避免碰撞

为了自主驱动TurtleBot3世界的TurtleBot3，打开一个新的终端窗口并输入以下命令。

roslaunch turtlebot3_gazebo turtlebot3_world.launch

打开一个新的终端窗口并输入下面的命令

roslaunch turtlebot3_gazebo turtlebot3_simulation.launch

当模拟运行时，RViz可视化发布的主题。您可以通过输入以下命令在新的终端窗口中启动RViz

roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch

5.带有TurtleBot3的虚拟SLAM

对于Gazebo中的虚拟SLAM，您可以选择上面提到的各种环境和机器人模型，而不是运行实际的机器人，而SLAM相关命令将使用SLAM部分中使用的ROS软件包。以下命令是使用TurtleBot3 Waffle Pi模型和turtlebot3_world环境的示例。

(1)启动gazebo

roslaunch turtlebot3_gazebo turtlebot3_world.launch

(2)启动SLAM

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

(3)远程控制TurtleBot3

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

(4)保存地图

rosrun map_server map_saver -f ~/map

####6.虚拟导航与TurtleBot3

对于Gazebo中的虚拟导航，您可以选择上面提到的各种环境和机器人模型，而不是运行实际的机器人，导航相关命令将使用导航部分中使用的ROS软件包。

(1)运行gazebo

roslaunch turtlebot3_gazebo turtlebot3_world.launch

(2)导航

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

7.由多TurtleBot3s虚拟SLAM

(1)在TurtleBot3 House中打三个TurtleBot3s

roslaunch turtlebot3_gazebo multi_turtlebot3.launch

(2)执行SLAM

roslaunch turtlebot3_gazebo multi_turtlebot3_slam.launch ns:=tb3_0
roslaunch turtlebot3_gazebo multi_turtlebot3_slam.launch ns:=tb3_1
roslaunch turtlebot3_gazebo multi_turtlebot3_slam.launch ns:=tb3_2

(3)合并来自每个TurtleBot3的地图数据的地图数据

roslaunch turtlebot3_gazebo multi_map_merge.launch

(4)执行RViz

rosrun rviz rviz -d `rospack find turtlebot3_gazebo`/rviz/multi_turtlebot3_slam.rviz

(5)遥控操作

rosrun turtlebot3_teleop turtlebot3_teleop_key cmd_vel:=tb3_0/cmd_vel

(6)保存地图

rosrun map_server map_saver -f ~/map

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Tutorial 2 TurtleBotOpenManipulator

1.首先在.bashrc添加下面代码

export TURTLEBOT3_MODEL=burger
export TURTLEBOT3_MODEL=waffle
export TURTLEBOT3_MODEL=waffle_pi

在终端输入

source .bashrc

使环境生效

2.导出TurtleBot3_OpenManipulator模型

roslaunch open_manipulator_with_tb3_description open_manipulator_with_tb3_rviz.launch

3.OpenCR安装程序

教程参考:OpenCR Setup

4.用OpenManipulator引导TurtleBot3

roslaunch open_manipulator_with_tb3_description open_manipulator_with_tb3_model.launch use_gazebo:=false

5.SLAM

roslaunch open_manipulator_with_tb3_tools open_manipulator_with_tb3_slam.launch use_gazebo:=false open_rviz:=true

6.导航

roslaunch open_manipulator_with_tb3_tools open_manipulator_with_tb3_navigation.launch use_gazebo:=false open_rviz:=true

7.找到AR标记

roslaunch open_manipulator_ar_markers ar_pose.launch

8.MoveIt！

roslaunch open_manipulator_with_tb3_tools open_manipulator_with_tb3_manipulation.launch use_gazebo:=false open_rviz:=true

为了控制OpenManipulator的抓取器，请使用下面的命令在新的终端窗口中使用主题发布

rostopic pub /open_manipulator_with_tb3/gripper std_msgs/String "data: 'grip_off'" --once

9.挑选和放置

这里提供移动操作的拾取和放置示例。此示例由控制器启动，即自动启动和停止导航堆栈MoveIt！，通过传送ROS消息来选择和放置启动文件。用户可以修改此节点以应用其环境。

roslaunch open_manipulator_with_tb3_tools open_manipulator_with_tb3_controller.launch

10.模拟

在Gazebo模拟器上用OpenManipulator加载TurtleBot3并单击Play按钮

roslaunch open_manipulator_with_tb3_gazebo open_manipulator_with_tb3_gazebo.launch

键入rostopic list以检查哪个主题已激活。

rostopic pub /joint4_position/command std_msgs/Float64 "data: 0.21" --once

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参考网站:

http://learn.turtlebot.com/

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

https://github.com/ROBOTIS-GIT/emanual/blob/master/docs/en/platform/turtlebot3/simulation.md

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