Turtlebot Tutorials

NOTE: These tutorials are currently being revamped. They have not been checked for sleeping children.

Cloning this repository

Please use the following command to clone this repo:

git clone --recursive git@github.com:dabit-industries/turtlebot2-tutorials ~/turtlebot2-tutorials

Automated Setup

Bypass the environment setup instructions in the tutorial with the Automated Setup
Checkout the Turtlebot Code and Setup Files

Tutorials

ROS

• ROS Setup

• Prevent Laptop Locking/Sleeping

• ROS Master/Turtlebot Computer Network Setup

  • Tips and Tricks

Turtlebot

• Turtlebot Physical Assembly

• Load Turtlebot Device Drivers

• Teleoperate the Turtlebot

• Visualize Turtlebot Data

SLAM

• 2D SLAM using GMapping

• 3D SLAM with RGB-D Sensors

  • SLAM Using RTABMAP

Arduino

• Use an Arduino with the Turtlebot
  • Create a ROS Subscriber on the Arduino
  • Create a ROS Publisher on the Arduino

Fiducial Markers

• View data from AprilTags

PROGRAMMING

• Intialize your workspace
  • Building ROSPY with your Catkin Package
  • Building ROSCPP with your Catkin Package

OpenCV

• OpenCV and ROS
  • OpenCV2 and ROSPY
  • OpenCV2 and ROSCPP

PCL

• PCL and ROS

Quanergy M8

• Quanergy M8

Data Collection

• GUI Bagging

Resources

Papers

SLAM

• Online Global Loop Closure Detection for Large-Scale Multi-Session Graph-Based SLAM
• Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation
• An Evaluation of 2D SLAM Techniques Available in Robot Operating System
• SegMatch: Segment based loop-closure for 3D point clouds
• A Loop Closure Improvement Method of Gmapping for Low Cost and Resolution Laser Scanner
• SLAM for Dummies

NAVIGATION

• A Frontier-Based Approach for Autonomous Exploration

MOTION PLANNING

• A Simple, but NP-Hard, Motion Planning Problem

CV/MV

• Pedestrian Detection in RGB-D Data Using Deep Autoencoders