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Giovanni Toffetti edited this page Dec 8, 2022
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This repository is a ROS package for TurtleBots. Most of the launch files, scripts, and parameters are modified files from other ROS packages such as turtlebot and turtlebot3.
Below is the list of branches:
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noetic: this branch is for your local machine (not the robot) to view turtlebot operation, and to test launch files/scripts in simulation with Gazebo. -
turtlebot2: this branch is what we run on the TB2 -
turtlebot3: this is what we run on the TB3 -
kinetic: deprecated this branch is for your local machine (not the robot) to view turtlebot operation, and to test launch files/scripts in simulation with Gazebo.
The following wiki pages are related to TurtleBot2:
This branch contains all the files required for the bring up of the TurtleBot 2 and the navigation stack. Original files come from https://github.com/turtlebot/turtlebot and https://github.com/turtlebot/turtlebot_apps/tree/indigo/turtlebot_navigation
TODO
Launch one of the launch files below on the robot.
- amcl + map_server on robot
roslaunch icclab_turtlebot minimal_amcl.launch launch_map_server:=true - amcl + map_server not on robot (default setting)
roslaunch icclab_turtlebot minimal_amcl.launch launch_map_server:=false - slam with gmapping
roslaunch icclab_turtlebot minimal_exploration.launch launch_gmapping:=true
Launch rviz with correct rviz config (should be inside kinetic branch) on your local machine
rosrun rviz rviz -d ~/catkin_ws/src/icclab_turtlebot/rviz/navigation.rviz
Useful links: