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[ROS 2] Applications

NOTE:

  • This instructions were tested on Ubuntu 18.04 and ROS Dashing Diademata.
  • Make sure to run the Bringup instruction before use of the instruction.

This chapter shows some demos using TurtleBot3. In order to implement these demos, install the turtlebot3_applications package by following the given instructions.

[Remote PC]

Go to robotis workspace directory (/home/(user_name)/robotis_ws/src) and clone the turtlebot3_applications. Then run the colcon build to build the new packages.

  1. Open a terminal on Remote PC.
  2. Run the following commands.
    $ cd ~/robotis_ws/src
    $ git clone -b ros2 https://github.com/ROBOTIS-GIT/turtlebot3_applications.git
    $ cd ~/robotis_ws && colcon build --symlink-install
    

Automatic Parking

NOTE:

  • The turtlebot3_automatic_parking demo uses a 360 laser Distance Sensor LDS-01 and a reflective tape. The LaserScan topic has intensity and distance data from LDS. The TurtleBot3 uses this to locate the reflective tape.
  • The turtlebot3_automatic_parking demo requires NumPy package.

[Remote PC]

  1. Open a terminal on Remote PC.
  2. Install NumPy package using the following commands. Skip this step if NumPy package is already installed.
    $ sudo apt-get install python-pip3
    $ sudo pip3 install -U numpy
    $ sudo pip3 install --upgrade pip
    

[TurtleBot]

  1. Open a terminal on TurtleBot3.
  2. Bring up basic packages to start TurtleBot3 applications using the following command.
    $ ros2 launch turtlebot3_bringup robot.launch.py
    

[Remote PC]

  1. Open a terminal on Remote PC.
  2. Launch the automatic parking file using the following commands.
    $ export TURTLEBOT3_MODEL=${TB3_MODEL}
    $ ros2 launch turtlebot3_automatic_parking turtlebot3_automatic_parking.launch.py
    

    NOTE: Specify ${TB3_MODEL}: burger, waffle, waffle_pi before excuting the command. Set the permanent export setting by following Export TURTLEBOT3_MODEL instruction.

Automatic Parking Vision

It will be released soon !

Load Multiple TurtleBot3s

It will be released soon !