turtlebot2_Localization

This is the localization of the Turtlebo2 by fusing imu, and odometry data The gif below shows the integration of robot_localization package with odom_to_geometry modules for the turtlebot2.

Here, the IMU data and Odometry data from robot base (wheel) are fused together to generate /odom_combined topic. The Odometry message is then converted to a path.

For moving the robot around, the robot_teleop package is used which allows the user to control the robot manually in the scene.

In order to run the package simply:

./runPackage.sh

after cloning the package and installing the ROS dependencies.

turtlebot_gazebo package

this package is used for its Gazebo launchers and worlds for TurtleBot simulation, see link The turtlebot2 gazebo package has its rotary encoders and imu data published under these topics:

/mobile_base/sensors/imu_data as sensor_msgs/Imu:

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
geometry_msgs/Quaternion orientation
  float64 x
  float64 y
  float64 z
  float64 w
float64[9] orientation_covariance
geometry_msgs/Vector3 angular_velocity
  float64 x
  float64 y
  float64 z
float64[9] angular_velocity_covariance
geometry_msgs/Vector3 linear_acceleration
  float64 x
  float64 y
  float64 z
float64[9] linear_acceleration_covariance

/odom as nav_msgs/Odometry:

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
string child_frame_id
geometry_msgs/PoseWithCovariance pose
  geometry_msgs/Pose pose
    geometry_msgs/Point position
      float64 x
      float64 y
      float64 z
    geometry_msgs/Quaternion orientation
      float64 x
      float64 y
      float64 z
      float64 w
  float64[36] covariance
geometry_msgs/TwistWithCovariance twist
  geometry_msgs/Twist twist
    geometry_msgs/Vector3 linear
      float64 x
      float64 y
      float64 z
    geometry_msgs/Vector3 angular
      float64 x
      float64 y
      float64 z
  float64[36] covariance

In order to map the topic one can do: <remap from="foo" to="/mobile_base/sensors/imu_data" />

Convert estimated odometry to trajectory

For this purposes, the link ROS package is used with the following logic:

Moving with teleop package

Interested reader may refer to link for further info regarding Turtlebot2_teleop package:

roslaunch turtlebot_teleop keyboard_teleop.launch