Turtlebot—kobuki安装启动流程

具体参考：http://wiki.ros.org/Robots/TurtleBot

1. 安装：

sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-viz ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi> . /opt/ros/indigo/setup.bash

source /opt/ros/indigo/setup.bash

rosrun kobuki_ftdi create_udev_rules

环境配置： echo “source /opt/ros/hydro/setup.bash” >> ~/.bashrc

注：wstool provides commands to manage several local SCM repositories (supports git, mercurial, subversion, bazaar) based on a single workspace definition file (.rosinstall). wstool replaces the rosws tool for catkin workspaces. wstool is not a rewrite. It is intended to reuse most of the roswstool code and thus alsoproduce .rosinstall files that are compatible with those used by rosws.

网络时间同步

Network Time Protocol

Install Chrony

sudo apt-get install chrony

manually sync NTP

sudo ntpdate ntp.ubuntu.com

网络配置：（无工作站就可不用设）

创建工作空间

mkdir ~/turtlebot

cd ~/turtlebot

wstool init src https://raw.github.com/turtlebot/turtlebot/indigo/turtlebot.rosinstall -j8

source /opt/ros/indigo/setup.bash

rosdep install –from-paths src -i -y

catkin_make

安装kobuki

kobuki :

source ~/turtlebot/devel/setup.bash

rosrun kobuki_ftdi create_udev_rules

配置环境变量

echo “source /opt/ros/indigo/setup.bash” >> ~/.bashrc

echo “source ~/turtlebot/devel/setup.bash” >> ~/.bashrc

kinect加入环境变量

export TURTLEBOT_3D_SENSOR=kinect

echo “export TURTLEBOT_3D_SENSOR=kinect” >> >~/turtlebot/devel/setup.bash

source一下

source ~/turtlebot/devel/setup.bash

1. bringup（启动）

   source /opt/ros/indigo/setup.bash

   注：每次（下载或更新或启动launch文件）时都要对文件进行source

   ~ source/opt/ros/indigo/setup.bashcatkinws(你的workspace)  source turtlebot/devel/setup.bash

roslaunch turtlebot_bringup minimal.launch（启动turtlebot） Create dashboard（打开kobuki状态面板） 新打开一个terminal > rqt -s kobuki_dashboard 或者输入

roslaunch turtlebot_dashboard turtlebot_dashboard.launch

1. 维护与保养 （dashboard）

   Power Management

4.3D Visualisation（显示）

roslaunch turtlebot_bringup minimal.launch(前面已开)

source 一下 > source turtlebot/devel/setup.bash

roslaunch turtlebot_bringup 3dsensor.launch（打开3dsensor）

开Rviz

roslaunch turtlebot_rviz_launchers view_robot.launch

选中： DepthCloud Registered DepthCloud Image PointCloud Registered PointCloud

1. 键盘控制

   roslaunch turtlebot_teleop keyboard_teleop.launch

6 交互式标记控制 Interactive Markers Teleop

安装：

sudo apt-get install ros-hydro-turtlebot-interactive-markers

服务：turtlebot_marker_server：

roslaunch turtlebot_interactive_markers interactive_markers.launch

启动rviz：之前要source一下devel/setup.bash，然后再开rviz

roslaunch turtlebot_rviz_launchers view_robot.launch

控制方法：

勾中”Interactive Makers” ，选中面板工具顶部 “Interact”

7.校正(calibrate)：（ http://wiki.ros.org/turtlebot_calibration/Tutorials/Calibrate%20Odometry%20and%20Gyro ）

roslaunch turtlebot_calibration calibrate.launch

（First position TurtleBot at the center of a long straight wall (at least 2 meters long)rosrun rqt_reconfigure rqt_reconfigure , facing towards the wall, at about 30 cm away from the wall. ）

set the parameters ：

rosrun rqt_reconfigure rqt_reconfigure

8导航

使用gmapping建图：SLAM Map Building with TurtleBot

8.1导航功能介绍 Setup the Navigation Stack for TurtleBot

网址：http://wiki.ros.org/turtlebot_navigation/Tutorials/Setup%20the%20Navigation%20Stack%20for%20TurtleBot

Key files： turtlebot_navigation package

Move base：Planner

Change speed limits

Goal tolerance

Cost computing biases

Amcl (localization)

Gmapping (map building)

8.2 Launch the gmapping app

Bring up the robot

roslaunch turtlebot_bringup minimal.launch（前面已开）

Run the gmapping demo app

roslaunch turtlebot_navigation gmapping_demo.launch

Launch rviz:

# Groovy or later

roslaunch turtlebot_rviz_launchers view_navigation.launch

Drive the robot and Save the map

rosrun map_server map_saver -f /tmp/my_map

9 自动导航 （http://wiki.ros.org/turtlebot_navigation）

Autonomous Navigation of a Known Map with TurtleBot

This tutorial describes how to use the TurtleBot with a previously known map.

启动;

(1) > roslaunch turtlebot_bringup minimal.launch

运行导航DEMO并加载地图

(2)> roslaunch turtlebot_navigation amcl_demo.launch map_file:=/tmp/my_map.yaml

RVIZ显示

# Groovy or later

(3)> roslaunch turtlebot_rviz_launchers view_navigation.launch –screen

9.1导航操作：

1. 定位turtlebot（初始化）: 2D Pose Estimate

2. 远程操作:可以与导航同时进行。远程控制优先级高于导航。

3. 发送目标：2D Nav Goal

注：如果要在导航目标到达前让他停止，发送短一点到目标。

10 跟随 （http://wiki.ros.org/turtlebot_follower）

寻找窗口前方的目标，寻找质心并保持相应距离跟随。

10.1 跟随参数到更改

# groovy or later

rosrun rqt_reconfigure rqt_reconfigure

Select camera/follower on the reconfigure gui

Play with the parameters using the sliders; you will see the TurtleBot’s following behavior change as you move the sliders.

11 全景演示 The TurtleBot Panorama Demo

(http://wiki.ros.org/turtlebot_panorama)

Turtlebot-Android Pairing

(http://wiki.ros.org/turtlebot_android/Tutorials/hydro/Turtlebot-Android%20Pairing)

turtlebot_android(http://wiki.ros.org/turtlebot_android)