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Kwangwoon University ROBIT software for the 2018 Turtlebot3 Autorace
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turtle_vision upload Feb 26, 2019



The Team ROBIT is a robot team of Kwangwoon University in Seoul, Republic of Korea. Team ROBIT has been established in November 2006. We have studied hardware and software of robot system. We also has participated in several domestic and international robot competitions.


This document describes the team ROBIT's hardware and software for 2018 R-Biz challenge Turtlebot3 autonomous race.

  • turtle_master: Manage the entire used packages and nodes.
  • turtle_vision: Process the image data.

Hardware platform

User's Guide

Setting the default setting about turtlebot3

You should set the default setting about the turtlebot3. Refer the turtlebot3 official wiki and follow the official manual. Turtlebot3 Wiki: turtlebot3 official wiki

Uploading the modifed openCR firmware

This 'turtlebot3_core' package has been modified for the autonomous race. So you should upload this arduino sketch.

Setting the permission

You should set the permission of some devices. To set commands are:

  $ sudo chmod 777 /dev/video0
  $ sudo chmod 777 /dev/ttyUSB0
  $ sudo chmod 777 /dev/ttyACM0

Run turtle_master node

To execute master node commands are:

  $ rosrun turtle_master turtle_master

Run turtlev_ision node

We use ROS usb_cam package. Install the kinetic usb_cam package. Reference link:

   $ sudo apt-get install ros-kinetic-usb-cam

You should edit launch file.

  $ cd /opt/ros/kinetic/share/usb_cam/launch/
  $ sudo gedit usb_cam-test.launch 

Fill in this contents:

    <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
      <param name="video_device" value="/dev/video0" />
      <param name="image_width" value="320" />
      <param name="image_height" value="240" />
      <param name="framerate" value="30" />
      <param name="pixel_format" value="mjpeg" />
      <param name="camera_frame_id" value="usb_cam" />
      <param name="autoexposure" value="false" />
      <param name="exposure" value="130" />
      <param name="focus" value="1" />
      <param name="brightness" value="130" />
      <param name="contrast" value="100" />
      <param name="saturation" value="100" />
      <param name="auto_white_balance" value="false" />
      <param name="white_balance" value="4800" />
      <param name="io_method" value="mmap"/>

Execute usb_cam node after "catkin_make".

  $ roslaunch usb_cam usb_cam-test.launch 

The turtlevision node use ROS qt UI. You should install ros-kinetic-qt. To install command is:

  $ sudo apt-get install ros-kinetic-qt-*

Execute turtlevision node.

  $ rosrun turtle_vision turtle_vision     

You can threshold the range of several color in turtlevision node UI and press the "save parameter" to save the range of color. If you press the "run" button, robot will start.

Run turtlebot3 tunnel node

Bring up basic packages to start TurtleBot3 applications.

    $ roslaunch turtlebot3_bringup turtlebot3_robot.launch

If you want to launch Lidar sensor and core separately, please use below commands.

    $ roslaunch turtlebot3_bringup turtlebot3_lidar.launch
    $ roslaunch turtlebot3_bringup turtlebot3_core.launch

Execute turtlebot3 tunnel node.

    $ roslaunch turtlebot3_tunnel turtlebot3_tunnel.launch
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