TurtleBot

TurtleBot 2 TurtleBot 1

TurtleBot combines popular off-the-shelf robot components like the iRobot Create, Yujin Robot's Kobuki and Microsoft's Kinect into an integrated development platform for ROS applications. For more information about hardware, please see http://turtlebot.com.

ROS Software Maintainer: Michael Ferguson, Tully Foote, Melonee Wise (Willow Garage)

Contents

  1. Installation
  2. Getting Started with TurtleBot
    1. Advanced
  3. Support
  4. Library Overview
    1. Basic Configuration
    2. Hardware Drivers and Simulation
    3. High-Level Capabilities

Installation

Note: These installation instructions are only valid for TurtleBot 1! Turtlebot 2 supported started in ROS Groovy.

  1. Install software on the TurtleBot

  2. Install developer toolkit on your workstation

  3. Setup the network between your TurtleBot and workstation

Getting Started with TurtleBot

  1. TurtleBot Bringup

    How to start a TurtleBot

  2. TurtleBot Care and Feeding

    This tutorials explains how to charge and maintain your TurtleBot.

  3. Visualizing TurtleBot Kinect Data
    This tutorial shows you how to look at data coming from the Kinect camera.

turtlebot_teleop

  1. Keyboard Teleop

    How to teleoperate your TurtleBot with a keyboard.

  2. Joystick Teleop

    How to teleoperate your TurtleBot with a joystick.

  3. Interactive Markers

    Shows how to use rviz interactive markers for teleoping the TurtleBot.

turtlebot_calibration

  1. TurtleBot Odometry and Gyro Calibration

    This will show you how to calibrate or test the calibration of a TurtleBot which is highly recommended when running any navigation based application. /!\ Only necessary if you have a Create base which is using an external gyro.

turtlebot_navigation

  1. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  2. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

Advanced

  1. TurtleBot Follower Demo

    How to make your TurtleBot follow whatever's in front of it.

  2. Android Control of the TurtleBot

    How to control your TurtleBot from an Android device.

Support

For questions about software, please use the standard ways to get support for ROS. Please post TurtleBot-related questions to http://answers.ros.org with the tag "turtlebot". We encourage TurtleBot users to also subscribe to the turtlebot-users mailing list, for announcements and discussions among the TurtleBot community.

Use trac to report bugs or request features. [View active tickets]

Library Overview

Basic Configuration

Capability

ROS package/stack

Robot-specific Messages

turtlebot_node

Robot model (URDF)

turtlebot_description

Hardware Drivers and Simulation

Component

ROS package/stack

Actuator Drivers

turtlebot_node

Sensor Drivers

openni_kinect, pointcloud_to_laserscan

Simulation

turtlebot_simulator

High-Level Capabilities

Component

ROS package/stack

Navigation

turtlebot_navigation

Teleop

turtlebot_teleop

Visualization

turtlebot_dashboard

Manipulation

turtlebot_arm

ROS Software Maintainer: Michael Ferguson, Tully Foote, Melonee Wise (Willow Garage)

Contents

  1. Installation
  2. Getting Started with TurtleBot
    1. Advanced
  3. Support
  4. Library Overview
    1. Basic Configuration
    2. Hardware Drivers and Simulation
    3. High-Level Capabilities

Installation

Note: These installation instructions are only valid for TurtleBot 1! Turtlebot 2 supported started in ROS Groovy.

  1. Install software on the TurtleBot

  2. Install developer toolkit on your workstation

  3. Setup the network between your TurtleBot and workstation

Getting Started with TurtleBot

  1. TurtleBot Bringup

    How to start a TurtleBot

  2. TurtleBot Care and Feeding

    This tutorials explains how to charge and maintain your TurtleBot.

  3. Visualizing TurtleBot Kinect Data
    This tutorial shows you how to look at data coming from the Kinect camera.

turtlebot_teleop

  1. Keyboard Teleop

    How to teleoperate your TurtleBot with a keyboard.

  2. Joystick Teleop

    How to teleoperate your TurtleBot with a joystick.

  3. Interactive Markers

    Shows how to use rviz interactive markers for teleoping the TurtleBot.

turtlebot_calibration

  1. TurtleBot Odometry and Gyro Calibration

    This will show you how to calibrate or test the calibration of a TurtleBot which is highly recommended when running any navigation based application. /!\ Only necessary if you have a Create base which is using an external gyro.

turtlebot_navigation

  1. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  2. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

Advanced

  1. TurtleBot Follower Demo

    How to make your TurtleBot follow whatever's in front of it.

  2. Android Control of the TurtleBot

    How to control your TurtleBot from an Android device.

Support

For questions about software, please use the standard ways to get support for ROS. Please post TurtleBot-related questions to http://answers.ros.org with the tag "turtlebot". We encourage TurtleBot users to also subscribe to the turtlebot-users mailing list, for announcements and discussions among the TurtleBot community.

Use trac to report bugs or request features. [View active tickets]

Library Overview

Basic Configuration

Capability

ROS package/stack

Robot-specific Messages

turtlebot_node

Robot model (URDF)

turtlebot_description

Hardware Drivers and Simulation

Component

ROS package/stack

Actuator Drivers

turtlebot_node

Sensor Drivers

openni_kinect, pointcloud_to_laserscan

Simulation

turtlebot_simulator

High-Level Capabilities

Component

ROS package/stack

Navigation

turtlebot_navigation

Teleop

turtlebot_teleop

Visualization

turtlebot_dashboard

Manipulation

turtlebot_arm

ROS Software Maintainer: Michael Ferguson, Tully Foote, Melonee Wise (Willow Garage), Daniel Stonier (Yujin Robot)

Contents

  1. Overview
  2. Installation
  3. Getting Started
    1. Bringup
    2. Teleoperation
    3. Calibration
  4. Advanced Usage
    1. Navigation
    2. Something Funny
    3. Interesting Software
  5. Android
  6. Support
  7. Contributing
  8. Library Overview
    1. Basic Configuration
    2. Hardware Drivers
    3. High-Level Capabilities
    4. Application Framework
    5. Coming Soon

Overview

This information is a first draft for running turtlebot on either a Create or a Kobuki. If you find problems or outright lies (there is alot of mashed history seeping through!), please fix directly or raise the issue on the turtlebot sig mailing list.

Installation

  1. Installation

    Installation instructions from iso, deb or sources.

  2. Post-Installation Setup

    Customised configuration for your robot setup.

  3. Workstation Installation

    Installing the software for your monitoring workstation pc.

  4. Network Configuration

    Get turtlebot and your workstation chatting to each other.

Getting Started

Bringup

  1. TurtleBot Bringup

    How to start the TurtleBot software.

  2. TurtleBot Care and Feeding

    This tutorials explains how to charge and maintain your TurtleBot.

  3. 3D Visualisation

    Visualising 3d and camera data from the kinect/asus.

Teleoperation

  1. Keyboard Teleop

    Keyboard teleoperation of a turtlebot.

  2. Joystick Teleop

    Joystick teleoperation of a turtlebot.

  3. Interactive Markers Teleop

    A tutorial describing how to use rviz interactive markers for controlling the TurtleBot.

Calibration

  1. TurtleBot Odometry and Gyro Calibration

    /!\ Only necessary if you have a Create base which is using an external gyro. This will show you how to calibrate or test the calibration of a TurtleBot which is highly recommended when running any navigation based application.

Advanced Usage

Navigation

  1. SLAM Map Building with TurtleBot

    How to generate a map using gmapping

  2. Autonomous Navigation of a Known Map with TurtleBot

    This tutorial describes how to use the TurtleBot with a previously known map.

Something Funny

  1. The TurtleBot Follower Demo

    This describes how to run the TurtleBot Follower Demo on your TurtleBot.

Interesting Software

  1. The TurtleBot Panorama Demo

    This describes how to run the TurtleBot Panorama Demo on your TurtleBot.

Android

  1. How to control your TurtleBot from an Android device

    This will walk you through how to control your TurtleBot from an Android phone or tablet.

Support

For questions about software, please use the standard ways to get support for ROS.

  • Send questions to ros answers with the tag "turtlebot".

  • General discussions happen on the sig mailing list (<ros-sig-turtlebot AT googlegroups DOT com>)

  • Bug reports and pull requests to github.

Contributing

  • Software Development - outlines the git based pull-request workflow through which we accept software contributions.

  • Do you want to create your own Android applications to control TurtleBot? These tutorials tell you how!

  • Documentation - any effort to help make this wiki documentation clearer will of course, always be appreciated.

Library Overview

Basic Configuration

Capability

ROS package

Robot-specific Messages

kobuki_msgs/create_node

Robot model (URDF)

turtlebot_description/kobuki_description/create_description

Hardware Drivers

Component

ROS package

Actuator Drivers

kobuki_driver/create_driver

Mobile Base Nodes

kobuki_node/create_node

Sensor Drivers

openni_camera, depthimage_to_laserscan

High-Level Capabilities

Component

ROS package

Navigation

turtlebot_navigation

Teleop

turtlebot_teleop

Interactive Markers

turtlebot_interactive_markers

Visualization

turtlebot_rviz_launchers/turtlebot_dashboard

Application Framework

Component

ROS package

App Manager

turtlebot_app_manager

Turtlebot Apps

turtlebot_apps

Android Apps

turtlebot_android

Coming Soon

Not yet available, but in the works!

Component

ROS package

Simulation

turtlebot_simulator

Manipulation

turtlebot_arm

ROS Software Maintainer: Michael Ferguson, Tully Foote (OSRF), Melonee Wise (Unbounded Robotics), Daniel Stonier (Yujin Robot)

Contents

  1. Overview
  2. Installation
  3. Support
  4. Contributing

Overview

These are preliminary experimental (i.e. they will be broken!) instructions for turtlebot on hydro as we catkinize, re-introduce gazebo and merge in a new pairing/multimaster mode for turtlebot. Raise queries on the turtlebot sig mailing list.

Under Development!

Installation

  1. Installation

    Installation instructions from iso, deb or sources.

Support

For questions about software, please use the standard ways to get support for ROS.

  • Send questions to ros answers with the tag "turtlebot".

  • General discussions happen on the sig mailing list (<ros-sig-turtlebot AT googlegroups DOT com>)

  • Bug reports and pull requests to github.

Contributing

Wiki: Robots/TurtleBot (last edited 2013-04-15 23:26:31 by DanielStonier)

Except where otherwise noted, the ROS wiki is licensed under Creative Commons Attribution 3.0.