/turtlebot2_demo

Primary LanguageC++

This repository will contain the code and supporting files to run TurtleBot 2 demos using ROS 2.

Installation

Install some dependencies

sudo apt-get install ros-kinetic-kobuki-driver ros-kinetic-common-msgs ros-kinetic-astra-camera

Get the ROS 2 code

Follow the usual instructions for getting ROS 2 code, then add a couple of repositories:

cd ~/ros2_ws/src
git clone git@github.com:ros2/turtlebot2_demo.git
git clone git@github.com:ros2/ros_astra_camera.git

Build the ROS 2 code, including the new nodes

# We'll eventually want to use the ROS 1 bridge, too
. /opt/ros/kinetic/setup.bash
cd ~/ros2_ws
./src/ament/ament_tools/scripts/ament.py build

Configure a couple of things

# Astra device rule
cd ~/ros2_ws/src/ros_astra_camera
sudo cp 56-orbbec-usb.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart
# Kobuki-specific device link (needed until we parameterize the driver)
sudo ln -s /dev/ttyUSB0 /dev/kobuki

Run the new nodes

Kobuki

. ~/ros2_ws/install/setup.bash
kobuki_node

Joystick control

. ~/ros2_ws/install/setup.bash
joy_node

Astra camera

. ~/ros2_ws/install/setup.bash
astra_camera_node

Follower

. ~/ros2_ws/install/setup.bash
follower