Abstract

This sample code is for turtlebot3 simulator and turtlebot3. This code activates a node "main". Main node subscribes three topics -- imu, odom, and scan. Main node publishes a marker moving around the turtlebot3. You can access data from three Callback functions in src/main.cpp. You can see it in rviz.

About us

Developer:

• Kuo-Shih Tseng
  Contact: [email protected]
  Date: 2021/08/29
  License: Apache 2.0

Compile the code

$ cd catkin_ws/src
$ git clone https://github.com/kuoshih/turtlebot3
$ cd ..
$ catkin_make or catin build

Or Download this this code to pi\catkin_ws\src.
Unzip hypharos_minibot.zip to replace the original code.

$ cd catkin_ws
$ catkin_make or catin build

Run the code (for gazebo simulator)

You can install turtlebot_simulator first.
See the details in https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch # Terminal 1

$ roslaunch turtlebot3 project_sample.launch # Terminal 2

Run the code (for turtlebot3 robot)

Run the bringup in turtlebot3.
$ roscore # Terminal 1 in your laptop or PC.

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch# Terminal 1 in turtlebot3.

$ roslaunch turtlebot3_gazebo turtlebot3_world.launch # Terminal 2 in your laptop or PC.

The bashrc configuration about two devices' IP can be found in
https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/#pc-setup
https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup

rviz

Then, you can see the rviz.

Edit code

You can edit src/main.cpp for your project.

About Turtlebot3

More information about Turtlebot3 can be found https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/ .