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tbot_ws

Auto workspace setup for Turtlebot based testing platform

Usage:

  • . install.sh (this will fully setup the workspace)
  • . build.sh (this will rebuild if any changes made in src/*)
  • . source (this sources the workspace so that you can roslaunch things)

Velodyne

topics

  • /scan
  • /velodyne_packets
  • /velodyne_points

Example

  • Cartographer_turtlebot_demo

ref: link

# Download the example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/turtlebot/cartographer_turtlebot_demo.bag

# Launch the 2D LIDAR demo.
roslaunch cartographer_turtlebot demo_lidar_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

# Launch the 2D depth camera demo.
roslaunch cartographer_turtlebot demo_depth_camera_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

# Launch the 3D depth camera demo.
roslaunch cartographer_turtlebot demo_depth_camera_3d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

Troubleshooting

  1. Suitesparse problem

  • ref: link

  • ceres-solver build

cd src/ceres-solver
mkdir build
cd build
cmake .. -G Ninja -DCXX11=ON  -DCMAKE_INSTALL_PREFIX=/usr/local/stow/ceres
ninja -j15
sudo ninja install
cd /usr/local/stow/
sudo stow ceres
  • rebuild Cartographer
cd src/cartographer
cmake ./CMakeLists.txt -G Ninja && ninja -j15
  1. pcap.h error
sudo apt-get install libpcap0.8-dev