TurtleBot3

Basic Operation

Teleoperation

WARNING: Make sure to run the Bringup from the TurtleBot3 SBC before teleoperation. Teleoperate the robot, and be careful when testing the robot on the table as the robot might fall.

The TurtleBot3 can be teleoperated by various remote controllers. Make sure that the necessary ROS packages are supported for your SBC and ROS version.

Keyboard

TIP: Before executing this command, you have to specify the model name of TurtleBot3. The ${TB3_MODEL} is the name of the model you are using in burger, waffle, waffle_pi.

Launch turtlebot3_teleop_key node from Remote PC for the teleoperation using a keyboard. Replace the ${TB3_MODEL} parameter with your model name such as burger, waffle, waffle_pi.
[Remote PC]
```
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
```

If the node is successfully launched, the following instruction will be appeared to the terminal window.
[Remote PC]

Control Your Turtlebot3
Moving around
     w
 a   s   d
     x
w/x : increase/decrease linear velocity
a/d : increase/decrease angular velocity
space key, s : force stop
CTRL-C to quit

Read more about How to predefine the TURTLEBOT3_MODEL

The export TURTLEBOT3_MODEL=${TB3_MODEL} command can be omitted if the TURTLEBOT3_MODEL parameter is predefined in the .bashrc file. The .bashrc file is automatically loaded when a terminal window is created.

Example of defining TurtlBot3 Burger as a default.

$ echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
$ source ~/.bashrc

Example of defining TurtlBot3 Waffle Pi as a default.

$ echo 'export TURTLEBOT3_MODEL=waffle_pi' >> ~/.bashrc
$ source ~/.bashrc

RC100

The settings for ROBOTIS RC-100B controller is included in the OpenCR firmware for TurtleBot3 Burger, Waffle and Waffle Pi. This controller can be used with the Bluetooth module BT410. The TurtleBot3 Waffle Pi includes the RC-100 controller and Bluetooth modules. When using RC-100, it is not necessary to execute a specific node because turtlebot_core node creates a /cmd_vel topic in the firmware directly connected to OpenCR.

Connect BT-410 to OpenCR UART1 port (as described here).
Control TurtleBot3 with RC-100.
- Up / Down : Increase or decrease linear velocity
- Left / Right : Increase or decrease angular velocity

PS3 Joystick

Connect the PS3 Joystick to the remote PC via Bluetooth or a USB cable.

Install packages for teleoperation using PS3 joystick.
[Remote PC]

$ sudo apt install ros-noetic-joy ros-noetic-joystick-drivers ros-noetic-teleop-twist-joy

Launch the teleoperation node.
[Remote PC]

$ roslaunch teleop_twist_joy teleop.launch

XBOX 360 Joystick

Connect XBOX 360 Joystick to the remote PC with Wireless Adapter or USB cable.

Install packages for teleoperation using XBOX 360 joystick.
[Remote PC]

$ sudo apt install xboxdrv ros-noetic-joy ros-noetic-joystick-drivers ros-noetic-teleop-twist-joy

Launch teleoperation packages for XBOX 360 joystick.
[Remote PC]

$ sudo xboxdrv --silent
$ roslaunch teleop_twist_joy teleop.launch

Wii Remote

Connect Wii remote to the remote PC via Bluetooth.

Install packages for teleoperation using Wii remote.
[Remote PC]

$ sudo apt install ros-noetic-wiimote libbluetooth-dev libcwiid-dev
$ cd ~/catkin_ws/src
$ git clone https://github.com/ros-drivers/joystick_drivers.git  
$ cd ~/catkin_ws && catkin_make

Run teleoperation packages for Wii remote.
[Remote PC]

$ rosrun wiimote wiimote_node
$ rosrun wiimote teleop_wiimote

Topic Monitor

Read more about Topic Monitor

In order to check the topics of TurtleBot3, we will use rqt provided by ROS. The rqt is a Qt-based framework for GUI development for ROS. The rqt is a tool that allows users to easily see the topic status by displaying all the topics in the topic list. There are topic names, types, bandwidth, Hz, value in GUI.

Run the rqt from PC with the command below. If the topic monitor window is not displayed, select the plugin -> Topics -> Topic Monitor.
```
$ rqt
```
When the topic monitor loaded, the topic values are not monitored. Click the checkbox next to each topic to monitor the topic.
To see more detailed topic message, click the ▶ icon next to the checkbox.

/battery_state indicates a message relating to the battery condition, such as the current battery voltage and remaining capacity.
/diagnostics indicates a message the status of the components connected to the TurtleBot3, such as a MPU9250, DYNAMIXEL-X, a HLS-LFCD-LDS, a battery and a OpenCR.
/odom indicates a message the odometry of the TurtleBot3. This topic has orientation and position by the encoder data.
/sensor_state indicates a message the encoder values, battery and torque.
/scan indicates a message all of the LDS data, such as angle_max and min, range_max and min, indicates, ranges.

Basic Operation

Teleoperation

The TurtleBot3 can be teleoperated by various remote controllers. Make sure that the necessary ROS packages are supported for your SBC and ROS version.

WARNING: Make sure to run the Bringup from the TurtleBot3 SBC before teleoperation. Teleoperate the robot, and be careful when testing the robot on the table as the robot might fall.

Keyboard

Open a terminal on Remote PC.
Run teleoperation node. Replace the ${TB3_MODEL} with burger or waffle or waffle_pi, if TURTLEBOT3_MODEL parameter is not predefined.
[Remote PC]
```
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ ros2 run turtlebot3_teleop teleop_keyboard
```

If the node is successfully launched, the following instruction will be appeared to the terminal window.
[Remote PC]

Control Your Turtlebot3
Moving around
     w
 a   s   d
     x
w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)
space key, s : force stop
CTRL-C to quit

RC-100

The settings for ROBOTIS RC-100B is included in an OpenCR firmware for TurtleBot3. It can be used with the Bluetooth module BT410. TurtleBot3 Waffle Pi includes this controller and Bluetooth modules. When using RC-100B, it is not necessary to execute a specific node because turtlebot_core node creates a /cmd_vel topic in the firmware directly connected to OpeCR.

Connect BT-410 to any of OpenCR UART ports.
Control TurtleBot3 with RC-100.
- Up / Down : Increase or decrease linear velocity
- Left / Right : Increase or decrease angular velocity

PS3 Joystick

Connect PS3 Joystick to Remote PC via Bluetooth or a USB cable.
Install ds4drv packages by using pip.
[Remote PC]
```
$ sudo pip install ds4drv
```
Launch the joystick node.
[Remote PC]
```
$ sudo ds4drv
$ ros2 run joy joy_node
```
Open a new terminal and launch the teleoperation node.
[Remote PC]
```
$ ros2 run teleop_twist_joy teleop_node
```

XBOX 360 Joystick

Connect XBOX 360 Joystick to the remote PC with Wireless Adapter or USB cable.
Open a terminal on Remote PC.
Launch the joystick node.
[Remote PC]
```
$ ros2 run joy joy_node
```
Open a new terminal and launch the teleoperation node.
[Remote PC]
```
$ ros2 run teleop_twist_joy teleop_node
```

Topic Monitor

Read more about Topic Monitor

In order to check topics of TurtleBot3, Use rqt provided by ROS, which is a Qt-based framework for GUI development for ROS. It is a tool displaying all topics of TurtleBot3 with a topic name, type, bandwidth, Hz, and value.

Run the rqt from PC with the command below. If the topic monitor window is not displayed, select the plugin -> Topics -> Topic Monitor.
[Remote PC]
```
$ rqt
```
When the topic monitor loaded, the topic values are not monitored. Click the checkbox next to each topic to monitor the topic.
To see more detailed topic message, click the ▶ icon next to the checkbox.

/battery_state indicates a message relating to the battery condition, such as the current battery voltage and remaining capacity.
/odom indicates a message the odometry of the TurtleBot3. This topic has orientation and position by the encoder data.
/sensor_state indicates a message the encoder values, battery and torque.
/scan indicates a message all of the LDS data, such as angle_max and min, range_max and min, indicates, ranges.