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Last pushed: 2 months ago
Short Description
A container with ICCLab's turtlebot setup
Full Description

icclab_turtlebot

Base scripts for the turtlebots at ICCLab.

NOTE DEPENDENCIES:

  • the rplidar model uses a mesh from the "hector_sensors_description" package, so you should have that installed
  • the actual rplidar ROS node we're using allows us to stop the rotation motor, and it's here: https://github.com/negre/rplidar_ros.git

TL;DR

In the launch directory you will find:

  • minimal_with_rplidar.launch : launches the "minimal" turtlebot_bringup script + the rplidar node
  • gmapping_icclab.launch : gmapping using the rplidar input on /scan topic instead of the kinect
  • amcl_icclab.launch : amcl using the rplidar

In the base directory, the file 10-local.rules makes sure that when the rplidar is connected with
USB it's given a consistent name through a symlink (/dev/rplidar) you should save the file in
/etc/udev/rules.d/10-local.rules on your turtlebot

How to try things out

Simulation of SLAM using Gazebo + rviz

On laptop:

roslaunch icclab_turtlebot gmapping_icclab_simulation.launch GAZEBO_GUI:=true

SLAM with actual Turtlebot

On Turtlebot launch:

roslaunch icclab_turtlebot minimal_with_rplidar.launch

roslaunch icclab_turtlebot amcl_icclab.launch map_file:=/home/turtlebot/catkin_ws/src/icclab_turtlebot/icclab_latest_map.yaml
roslaunch icclab_turtlebot amcl_icclab.launch map_file:=/home/turtlebot/catkin_ws/src/icclab_turtlebot/icclab_latest_map.yaml initial_pose_x:=-6.2 initial_pose_y:=2 initial_pose_a:=3.50

On laptop:

roslaunch turtlebot_rviz_launchers view_navigation.launch

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gtoff
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