03-Turtlebot_Bringup.md

Turtlebot Bringup

The Turtlebot Bringup package contains all the neccesary configuration and launch files for loading the Turtlebot drivers.

The minimal.launch file starts up the Kobuki base drivers and the basic Turtlebot configuration settings for ROS.

1. Load the minimal.launch file
   1. On the Turtlebot computer, open a new terminal and type:

 roslaunch turtlebot_bringup minimal.launch

You should hear a chime from the Kobuki once ROS has connected to it.

Orbbec Astra Bringup

You can bring up the Orbbec Astra drivers by using the 3d_sensor launch file located in the turtlebot_bringup package

1. Load the 3dsensor.launch file
   1. On the Turtlebot computer, open a new terminal and type:

roslaunch turtlebot_bringup 3dsensor.launch

Seeing Orbbec Astra data

You can view data from the Orbbec Astra using the rqt_image_view program.

1. On the master computer, open a new terminal and type:

rosrun rqt_image_view rqt_image_view image:=/camera/rgb/image_raw

Astra Topics:

Topic	Description
/camera/depth/*	Depth Image
/camera/ir/*	2D infrared image
/camera/image_raw/*	raw RGB image

Testing Kobuki

1. Launch the GUI to check out the Kobuki status
   1. From the master computer, open a new terminal and type:

roslaunch turtlebot_dashboard turtlebot_dashboard.launch

If everything is OK, it should look like this:

You may need to press the button that looks like a speedometer to show the Robot Monitor output.

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