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Welcome to the icclab_turtlebot wiki!

This repository is a ROS package for TurtleBots. Most of the launch files, scripts, and parameters are modified files from other ROS packages such as turtlebot and turtlebot3.

Below is the list of branches:

• noetic: this branch is for your local machine (not the robot) to view turtlebot operation, and to test launch files/scripts in simulation with Gazebo.
• turtlebot2: this branch is what we run on the TB2
• turtlebot3: this is what we run on the TB3
• kinetic: deprecated this branch is for your local machine (not the robot) to view turtlebot operation, and to test launch files/scripts in simulation with Gazebo.

Branch: turtlebot2

The following wiki pages are related to TurtleBot2:

• TurtleBot2 Build
• TurtleBot2 Package
• Kobuki Power

This branch contains all the files required for the bring up of the TurtleBot 2 and the navigation stack. Original files come from https://github.com/turtlebot/turtlebot and https://github.com/turtlebot/turtlebot_apps/tree/indigo/turtlebot_navigation

Branch: turtlebot3

TODO

Bringup

Robot

Launch one of the launch files below on the robot.

• amcl + map_server on robot

  roslaunch icclab_turtlebot minimal_amcl.launch launch_map_server:=true
  

• amcl + map_server not on robot (default setting)

  roslaunch icclab_turtlebot minimal_amcl.launch launch_map_server:=false
  

• slam with gmapping

  roslaunch icclab_turtlebot minimal_exploration.launch launch_gmapping:=true
  

Local machine

Launch rviz with correct rviz config (should be inside kinetic branch) on your local machine

rosrun rviz rviz -d ~/catkin_ws/src/icclab_turtlebot/rviz/navigation.rviz

Networking

Useful links:

• https://wiki.archlinux.org/index.php/NetworkManager
• https://askubuntu.com/questions/262491/connect-to-a-wpa2-enterprise-connection-via-cli-no-desktop