Basic TurtleBot setup:
Follow step-by-step the processes mentioned in:
http://wiki.ros.org/Robots/TurtleBot (follow the tutorial given for ros-indigo dostribution)
Possible instructions for ros-kinetic:
- sudo apt-get install ros-kinetic-turtlebot-*
- sudo apt-get install ros-kinetic-rocon-*
- sudo apt-get install ros-kinetic-ar-track-alvar*
- Other important packages you might need:
- sudo apt-get install ros-kinetic-gmapping
- sudo apt-get install ros-kinetic-node*
- sudo apt-get install ros-kinetic-kobuki*
- sudo apt-get install ros-kinetic-create-dashboard
- Then source the changes: source /opt/ros/kinetic/setup.bash
Make sure the turtlebot is connected through usb and turned on. Test bring-up:
roslaunch turtlebot_bringup minimal.launch --screen
You should hear a sound when it is brought up (to life). Then check if the basic tele-op works:
roslaunch turtlebot_teleop keyboard_teleop.launch --screen
Further basic learning: http://learn.turtlebot.com
You can also play with the turtlebot simulator in ros, there are plenty of tutorials in the web for rviz simulation (e.g., https://youtu.be/9U6GDonGFHw)
Create base (for the turtlebots we have)
export TURTLEBOT_BASE=kobuki
export TURTLEBOT_STACKS=hexagons
export TURTLEBOT_3D_SENSOR=astra
export TURTLEBOT_BATTERY=/sys/class/power_supply/BAT0
Configuring Astra:
You'll need to install astra_launch, see https://github.com/orbbec/ros_astra_camer
- sudo apt-get install ros-kinetic-astra-camera
- sudo apt-get install ros-kinetic-astra-launch
Then you will be able to launch the Astra camera using
roslaunch astra_launch astra.launch
Check rostopic list command to see the available image topics published by astra camera node. Try to View the image topics using rqt_image_view
rosrun image_view image_view image:=/camera/rgb/image_raw
// if you need to install: sudo apt-get install ros-kinetic-rqt*