Add Turtlebot3 Burger and Khepera IV Examples #110

lukicdarkoo · 2020-07-03T10:31:07Z

Description
This PR adds Turtlebot3 Burger example.

Affected Packages

webots_ros2_examples

Tasks

DavidMansolino

Have you tried to interface it with some of the examples of https://github.com/ROBOTIS-GIT/turtlebot3/tree/foxy-devel ?

I am wondering if we should not move the turtlebot in a dedicated webots_ros2_turtlebot3 package, but since it uses the default driver I am hesitating (looks a bit overkilled for now, but maybe in the future, if we want to add control algorithm or some other nice example it would be nice).

webots_ros2_examples/README.md

webots_ros2_examples/worlds/turtlebot_example.wbt

webots_ros2_examples/resource/turtlebot.yaml

Co-authored-by: David Mansolino <mansolino.david@gmail.com>

lukicdarkoo · 2020-07-03T14:48:57Z

Have you tried to interface it with some of the examples of https://github.com/ROBOTIS-GIT/turtlebot3/tree/foxy-devel ?

I am wondering if we should not move the turtlebot in a dedicated webots_ros2_turtlebot3 package, but since it uses the default driver I am hesitating (looks a bit overkilled for now, but maybe in the future, if we want to add control algorithm or some other nice example it would be nice).

I haven't, I just tested the laser scan in RViz and odometry. But good idea! I would like to add a few examples! Maybe in another PR?

P.S. I have just added Khepera IV as well :)

lukicdarkoo · 2020-07-08T10:14:48Z

Cartographer:
https://i.imgur.com/rrcZsS8.mp4

Navigation:
https://i.imgur.com/6AGnUXp.mp4

DavidMansolino · 2020-07-08T10:42:39Z

Very nice demo!!!

DavidMansolino · 2020-07-09T06:32:56Z

👀

webots_ros2_examples/README.md

webots_ros2_examples/worlds/khepera4_example.wbt

webots_ros2_examples/README.md

webots_ros2_core/webots_ros2_core/devices/laser_device.py

webots_ros2_examples/worlds/.khepera4_example.wbproj

webots_ros2_examples/README.md

Co-authored-by: David Mansolino <mansolino.david@gmail.com>

lukicdarkoo · 2020-07-10T09:59:01Z

I changed the PR so now it doesn't require:
cyberbotics/webots#1884

DavidMansolino · 2020-07-10T11:21:27Z

👀

webots_ros2_core/webots_ros2_core/devices/laser_device.py

webots_ros2_examples/worlds/khepera4_example.wbt

Co-authored-by: David Mansolino <mansolino.david@gmail.com>

DavidMansolino

Thank you

omichel · 2020-07-13T09:57:31Z

webots_ros2_examples/README.md

+
+#### Troubleshooting
+
+If you see import failures or some indications saying that `WEBOTS_HOME` is incorrectly set, make sure your environment variables are [configured for extern controllers](https://www.cyberbotics.com/doc/guide/running-extern-robot-controllers?version=master#environment-variables).


I would remove the "?version=master" part from the URL.

omichel · 2020-07-13T09:59:22Z

webots_ros2_examples/README.md

+    world:=$(ros2 pkg prefix webots_ros2_examples --share)/worlds/turtlebot3_burger_example.wbt
+```
+
+If you have [`turtlebot3`](https://github.com/ROBOTIS-GIT/turtlebot3) package installed you can start `cartographer` as (you may need to run the command twice if it fails the first time):


If you have the ...
Also, I would add a coma after "installed".

omichel · 2020-07-13T10:00:07Z

webots_ros2_examples/README.md

+
+> On the [official TurtleBot3 website](https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/#turtlebot3) you can find more information about [navigation](https://emanual.robotis.com/docs/en/platform/turtlebot3/ros2_navigation2/) and [SLAM](https://emanual.robotis.com/docs/en/platform/turtlebot3/ros2_slam/) configuration.
+
+This will expose necessary topics:


This will expose the necessary topics:

omichel · 2020-07-13T10:02:58Z

webots_ros2_core/README.md

@@ -128,6 +128,8 @@ ros2 launch webots_ros2_core robot_launch.py \
 ```
 This command will run Webots with [UR5](https://cyberbotics.com/doc/guide/ure) and publish joint state positions, transformations and robot description.

+> Do not get confused by `$(ros2 pkg prefix webots_ros2_universal_robot --share)` as it will simply return path to share directory of `webots_ros2_universal_robot` package. Alternatively, you can specify absolute path to `universal_robot_rviz.wbt` file.


Many missing "the":

Do not get confused by $(ros2 pkg prefix webots_ros2_universal_robot --share) as it will simply return the path to the share directory of the webots_ros2_universal_robot package. Alternatively, you can specify the absolute path to the universal_robot_rviz.wbt file.

lukicdarkoo added 5 commits July 3, 2020 10:57

Add turtlebot3 proto

a685f4e

Add more complex world

2a22357

Add turtlebot parameters

970b192

Add note about pkg prefix

f7766af

Add turtlebot usage description

6c3fc92

lukicdarkoo added the enhancement New feature or request label Jul 3, 2020

lukicdarkoo self-assigned this Jul 3, 2020

lukicdarkoo mentioned this pull request Jul 3, 2020

Add Khepera IV Example #111

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lukicdarkoo requested a review from DavidMansolino July 3, 2020 12:38

lukicdarkoo marked this pull request as ready for review July 3, 2020 12:38

DavidMansolino requested changes Jul 3, 2020

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lukicdarkoo and others added 8 commits July 3, 2020 16:19

Add Khepera IV robot

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Update webots_ros2_examples/worlds/turtlebot_example.wbt

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Co-authored-by: David Mansolino <mansolino.david@gmail.com>

Update webots_ros2_examples/README.md

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Update webots_ros2_examples/README.md

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Co-authored-by: David Mansolino <mansolino.david@gmail.com>

Update webots_ros2_examples/worlds/turtlebot_example.wbt

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Co-authored-by: David Mansolino <mansolino.david@gmail.com>

Update webots_ros2_examples/worlds/turtlebot_example.wbt

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Co-authored-by: David Mansolino <mansolino.david@gmail.com>

Remove hidden fields

d76d829

Use full name for turtlebot

21bf1b8

lukicdarkoo changed the title ~~Add Turtlebot3 Burger Example~~ Add Turtlebot3 Burger and Khepera IV Examples Jul 3, 2020

lukicdarkoo requested a review from DavidMansolino July 3, 2020 15:10

lukicdarkoo added 5 commits July 6, 2020 08:50

Return raw value if table is not present

67c5bd3

Add IMU link

2d09308

Skip odometry if time_diff is 0

4309d20

Fix range limits

8293d6a

map_saver has changed the name in foxy

c07b045

lukicdarkoo removed the request for review from DavidMansolino July 7, 2020 09:35

lukicdarkoo added 2 commits July 7, 2020 18:02

Optimisation, avoid using timers when possible

b6d41fd

Use simulation time

19e7661

lukicdarkoo requested a review from DavidMansolino July 8, 2020 10:14

DavidMansolino reviewed Jul 9, 2020

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lukicdarkoo and others added 12 commits July 9, 2020 11:59

Update webots_ros2_examples/README.md

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Co-authored-by: David Mansolino <mansolino.david@gmail.com>

Update webots_ros2_examples/README.md

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Co-authored-by: David Mansolino <mansolino.david@gmail.com>

Update webots_ros2_examples/README.md

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Update webots_ros2_examples/README.md

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Add turtlebot model

8eda650

Add noise description

9fcf089

Add cartographer notification

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Add better world description

90e60bd

Decrease camera overlay

2acdc7f

Do not publish if range image is empty

88a3d96

Change robot device name

0f149fc

Broadcast base_footprint transform

af6fc44

lukicdarkoo requested a review from DavidMansolino July 10, 2020 10:29

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lukicdarkoo merged commit 910239a into develop Jul 10, 2020

lukicdarkoo deleted the feature-turtlebot-example branch July 10, 2020 12:05

omichel reviewed Jul 13, 2020

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Add Turtlebot3 Burger and Khepera IV Examples #110

Add Turtlebot3 Burger and Khepera IV Examples #110

lukicdarkoo commented Jul 3, 2020 •

edited

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lukicdarkoo commented Jul 3, 2020

lukicdarkoo commented Jul 8, 2020

DavidMansolino commented Jul 8, 2020

DavidMansolino commented Jul 9, 2020

lukicdarkoo commented Jul 10, 2020

DavidMansolino commented Jul 10, 2020

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omichel Jul 13, 2020

omichel Jul 13, 2020

omichel Jul 13, 2020

omichel Jul 13, 2020


		#### Troubleshooting

		If you see import failures or some indications saying that `WEBOTS_HOME` is incorrectly set, make sure your environment variables are [configured for extern controllers](https://www.cyberbotics.com/doc/guide/running-extern-robot-controllers?version=master#environment-variables).


		> On the [official TurtleBot3 website](https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/#turtlebot3) you can find more information about [navigation](https://emanual.robotis.com/docs/en/platform/turtlebot3/ros2_navigation2/) and [SLAM](https://emanual.robotis.com/docs/en/platform/turtlebot3/ros2_slam/) configuration.

		This will expose necessary topics:

Add Turtlebot3 Burger and Khepera IV Examples #110

Add Turtlebot3 Burger and Khepera IV Examples #110

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lukicdarkoo commented Jul 3, 2020 •

edited