Introduction Slides: https://github.com/fatmaf/barc_ws_res/blob/master/BarcWorkshop.pdf
We recommend ROS and Ubuntu. ROS does have not so great support for other operating systems too. You can take a look here: http://wiki.ros.org/kinetic/Installation
In case you do not have Ubuntu or ROS installed.
If you do not have Ubuntu and don't want to install it. You can get a virtual machine (vm) image.
- Download virtualbox (https://www.virtualbox.org/)
- Grab the image for ubuntu with ROS indigo here: https://nootrix.com/diy-tutos/ros-indigo-virtual-machine/
This is not the latest version. If you'd like a newer version, you may have to install the machine yourself. You can grab an image here http://www.osboxes.org/ubuntu/
Instructions here : https://builtvisible.com/the-ubuntu-installation-guide/
You can download 14.04 or 16.04. We reccommend the latest.
- With Ubuntu 14.04 you will need to install ROS Indigo
- With Ubuntu 16.04 you will need to install ROS Kinetic
Depending on your ubuntu version:
- Kinetic : http://wiki.ros.org/kinetic/Installation/Ubuntu
- Indigo : http://wiki.ros.org/indigo/Installation/Ubuntu
Please follow all the way through till environment setup (including the environment setup).
It is recommended that you add the line source /opt/ros/kinectic/setup.bash or source /opt/ros/indigo/setup.bash (depending on your installation) to your .bashrc file.
To test your installation you can open up terminal (pressing control, alt, t) and run the command roscore .
Lets create the working directory for this workshop.
mkdir -p ~/ros_ws/src
You can navigate to this directory by cd ~/ros_ws/src
Download the script and run it. https://github.com/fatmaf/barc_ws_res/blob/master/install_kinect_drivers.sh
Install the following:
sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs
If you want to install everything turtlebot you can do:
sudo apt-get install ros-indigo-turtlebot*
If you have kinetic you will need to replace indigo with kinectic in the command above. Some of these packages are not available in kinetic.
For kinectic you may have to use apt instead of ```apt-get``
Make sure ros is not running. Open two new terminals and run the following (one command in each)
roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_teleop keyboard_teleop.launch
You should now be able to move the turtlebot
If you don't have the actual robot , you can try this in simulation
roslaunch turtlebot_gazebo turtlebot_world.launch
roslaunch turtlebot_teleop keyboard_teleop.launch
A pre built map of Sloman Lounge is here: (download both files, you may need to make a few changes to the .yaml (the address of the pgm file)) https://github.com/fatmaf/barc_ws_res/blob/master/workshop_map.pgm https://github.com/fatmaf/barc_ws_res/blob/master/workshop_map.yaml
There is a cleaner version of the map available at https://github.com/fatmaf/barc_ws_res/blob/master/workshop_map_repaired.pgm
You will have to make sure that the yaml and pgm files have the same names and address inside the yaml.
Download turtlebot_map_startup.launch here: https://github.com/fatmaf/barc_ws_res/blob/master/turtlebot_map_startup.launch Place it in your working directory and use roslaunch to launch it.
You can read more about roslaunch here: http://wiki.ros.org/roslaunch
Use the 2D Nav Goal button to send the robot to a goal location on the map. It'll start moving instantly to that location.
Now write a program that can send the robot to a single location: Move base is reponsible for moving the robot http://wiki.ros.org/move_base
If you feel very lost you can look here for more detailed help: http://learn.turtlebot.com/ (you can find code that does exactly this in python, just have to look)
Here is c++ code that helps but enter at your own risk http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals
Have your turtlebot visit the following locations in order:
- a
- b
- c
- d