TurtleBot3

Additional Sensors

TurtleBot3 can be attach to additional sensors. Examples shown here can be that how to use additional sensors such as IR, ultrasonic, switch, etc. in OpenCR of TurtleBot3.

Bumper

Device - Touch_sensor (TS-10)

(Front side)

(Back side)

Default PIN

Device	PIN
Front sensor	ROBOTIS_5-PIN 3
Back sensor	ROBOTIS_5-PIN 4

Tip : If you want to use another PIN, refer to OpenCR PIN Map.

Run with Turtlebot3

WARNING : Make sure to run the Bringup instruction before performing Example.

[Remote PC] Launch the bumper launch file.

$ roslaunch turtlebot3_example turtlebot3_bumper.launch

Run with Arduino IDE

This example can be open Arduino IDE.

Select to File -> Examples -> ROS -> 2. Sensors -> a_Bumper. Upload to OpenCR.

[Remote PC] Run ros serial_node package.

$ rosrun rosserial_python serial_node.py __name:=turtlebot3_core _port:=/dev/ttyACM0 _baud:=115200

WARNING : If you upload examples to OpenCR, you have to re-upload turtlebot3_core.

IR

Device - IR_sensor (IRSS-10)

Default PIN

Device	PIN
IR sensor	ROBOTIS_5-PIN 2

Tip : If you want to use another PIN, refer to OpenCR PIN Map.

Run with Turtlebot3

WARNING : Make sure to run the Bringup instruction before performing Example.

[Remote PC] Launch the cliff launch file.

$ roslaunch turtlebot3_example turtlebot3_cliff.launch

Run with Arduino IDE

This example can be open Arduino IDE.

Select to File -> Examples -> ROS -> 2. Sensors -> b_Cliff. Upload to OpenCR.

[Remote PC] Run ros serial_node package.

$ rosrun rosserial_python serial_node.py __name:=turtlebot3_core _port:=/dev/ttyACM0 _baud:=115200

Ultrasonic

Device - Ultrasonic sensor (HC-SR04)

Default PIN:

Device	PIN
Trigger	BDPIN_GPIO_1
Echo	BDPIN_GPIO_2

Tip : If you want to use another PIN, refer to OpenCR PIN Map.

Run with Turtlebot3

WARNING : Make sure to run the Bringup instruction before performing Example.

[Remote PC] Launch the sonar launch file.

$ roslaunch turtlebot3_example turtlebot3_sonar.launch

Run with Arduino IDE

This example can be open Arduino IDE.

Select to File -> Examples -> ROS -> 2. Sensors -> c_Ultrasonic. Upload to OpenCR.

[Remote PC] Run ros serial_node package.

$ rosrun rosserial_python serial_node.py __name:=turtlebot3_core _port:=/dev/ttyACM0 _baud:=115200

Illumination

Device - LDR sensor (Flying-Fish MH-sensor)

Default PIN

Device	PIN
Analog	A1

Tip : If you want to use another PIN, refer to OpenCR PIN Map.

Run with Turtlebot3

WARNING : Make sure to run the Bringup instruction before performing Example.

[Remote PC] Launch the illumination launch file.

$ roslaunch turtlebot3_example turtlebot3_illumination.launch

Run with Arduino IDE

This example can be open Arduino IDE.

Select to File -> Examples -> ROS -> 2. Sensors -> d_Illumination. Upload to OpenCR.

[Remote PC] Run ros serial_node package.

$ rosrun rosserial_python serial_node.py __name:=turtlebot3_core _port:=/dev/ttyACM0 _baud:=115200

LED

Device - led (led101)

Default PIN

Device	PIN
Front_left	BDPIN_GPIO_4
Front_right	BDPIN_GPIO_6
Back_left	BDPIN_GPIO_8
Back_right	BDPIN_GPIO_10

Tip : If you want to use another PIN, refer to OpenCR PIN Map.

This example is allways active when connected led. the leds show a specific pattern depend on the linear and angular velocity of Turtlebot3.