This is the turtlebot2 bring up on Dashing.
Now not supported Crystal.
/cmd_vel
- you can control by velocity which is based on Twist type.
If you use anguler velocity, you have to use way of degree.
So you can only use from -100 to 100 [degree/sec]
turtlebot2/commands/reset_pose
- able to reset pose (0, 0, 0) by send True.
turtlebot2/odometry
- you can subscribe odometry which type is Quaternion.
Not Euler!!! Be careful.
turtlebot2/imu
- you can subscribe inertial sensor data.
If you bring up the turtlebot2, turtlebot execute the dashing stop function.
First, you have to build using colcon builder.
colcon build --packages-select turtlebot_bringup
Second, you have to load the setup.bash
source install/local_setup.bash
source install/setup.bash
Third, you can run the turtlebot_bringup
ros2 run turtlebot_bringup turtlebot2
firstly, download ydlidar_ros2
git clone https://github.com/yangfuyuan/ydlidar_ros2.git
secondly, build any pacakges
colcon build
finally, load any packages
source install/local_setup.bash
source install/setup.bash
ros2 launch turtlebot_bringup minimal.launch.py