TB3_TurtleBot

Team Turbo

Launch Order Description A RVIZ After this you can check everything. Lidar Cam Robot.launch

SLam NAV

Launch tb3_hardware via SSH on Turtlebot

Following Packages need to be installed and build on the Robot:

apriltag_msgs
apriltag_ros
tb3_hardware

Launch on system first

$ ros2 launch tb3_description tb3_description.launch.py use_sim_time:=false

Launching the Lidarsensor

$ sudo chmod 0666 /dev/ttyUSB0
$ ros2 launch tb3_hardware rplidar.launch.py

Launching the Webcam

$ cd ~/robot_ws/src/tb3_hardware/config
$ ros2 run usb_cam usb_cam_node_exe --ros-args --params-file ./camera_params.yaml

Launch Apriltag Detections

$ ros2 launch apriltag_ros track.launch.py   # to run in sim remove /camera bevore the camera topics in launch 

Launching the Robot Interface

$ sudo chmod 0666 /dev/ttyACM0
$ TURTLEBOT3_MODEL=waffle ros2 launch tb3_hardware robot.launch.py 

Launch on System

($ ros2 run tb3_teleop teleop)  Just for teleoperation 
$ ros2 launch my_robot_slam localization.launch.py use_sim_time:=false
$ ros2 launch my_robot_navigation robot_nav.launch.py use_sim_time:=false
$ ros2 run my_robot_navigation auto_explorer

Autonomous Drive in Gazebo

$ ros2 launch tb3_gazebo tb3_arena.launch.py 
$ ros2 launch my_robot_slam localization.launch.py
$ ros2 launch my_robot_navigation robot_nav.launch.py
$ ros2 launch apriltag_ros track.launch.py     # to run in sim add /camera bevore the camera topics in launch 
$ ros2 run tb3_transforms tf_listener 
$ ros2 run tb3_teleop apriltags.py
$ ros2 run my_robot_navigation auto_explorer 

Zum erstellen der Map braucht man...

• odometire
• tf three
• slamtoolbox

Hinweis: using simtime muss für Gazebo bei allen auf ture gesetzt werden

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