Turtlebot2 Package
The package has the following root structure
Below are descriptions for each directory.
3dsensor.launch
- starts up the 3d sensor
- default is set to kinect camera
amcl_demo.launch
- launch file used in the TurtleBot navigation tutorials
- uses default navigation stack parameters
- amcl observation sources: scan (published by camera and rplidar if running) and bump (published by mobile base)
- NOTE: this is a good starting point for testing the navigation stack as it uses the default configuration
amcl_icclab.launch
- uses custom navigation stack parameters in param directory of this repository
- amcl observation sources: scan3d (published by kinect camera), scan (published by rplidar), and bump (published by mobile base)
- NOTE: kinect and bumper often disabled to decrease computation running on Pi 3
filter.launch
- custom made filter aimed to remove nonexistent points in the LaserScan of the rplidar due to reflections
minimal_amcl.launch
- launch file used in the webapp navigation demo using amcl and map server
- NOTE: rplidar node needs to be running beforehand
minimal_exploration.launch
- launch file used in the webapp exploration demo using cartographer
- NOTE: rplidar node needs to be running beforehand
Encodes the necessary physical properties of an object to represent the rplidar laser scanner.
Documentation that describe the parameters in the navigation stack.
- http://wiki.ros.org/move_base
- http://wiki.ros.org/costmap_2d/flat
- http://wiki.ros.org/base_local_planner
- http://wiki.ros.org/global_planner
Most parameters were set based on this paper
Clearing and marking of obstacles on costmap:
- kinect camera can both mark and clear obstacles
- rplidar can only clear obstacles
- bumper can only mark obstacles
Contains the urdf files that gives the description of the robot. Custom made urdf file for current configuration is turtlebot.urdf.xacro.
Contains the files that need to be copied over to the root file system to enable the rplidar node to start on boot up as a daemon.