TurtleBot教程

Posted 2020-08-16 2008nmj

TurtleBot

 

TurtleBot combines popular off-the-shelf robot components like the iRobot Create, Yujin Robot‘s Kobuki, Microsoft‘s Kinect and Asus‘ Xtion Pro into an integrated development platform for ROS applications. For more information about hardware, please see http://turtlebot.com.

TurtleBot结合了流行的现成的机器人组件，像iRobot Create（底盘），Yujin Robot的Kobuki，微软的Kinect（感应器）和Asus的Xtion Pro（体感设备），从而组成了一个ROS应用开发平台。对于关于硬件的更多信息，请看：http://turtlebot.com。

BDFLs（Benevolent Dictator for Life）: Tully Foote (OSRF), Melonee Wise (Fetch Robotics)

ROS SW Maintainers: Michael Ferguson (Fetch Robotics), Tully Foote (OSRF), JihoonLee (Yujin Robot), Daniel Stonier (Yujin Robot)

 

Recently overhauled entire tutorial for indigo (24/03/15).最近大修完全教程为indigo（24/03/15）。

1. 概况

Migration - what‘s new and shiny in your indigo turtlebot software!

迁移：在你的indigo turtlebot软件中什么是新的和闪亮的？：http://wiki.ros.org/Robots/TurtleBot/indigo/Migration

2. 关于

1. Turtlebot-Developer Habitats TurtleBot开发者园地
   

   Various usage scenarios for turtlebots and their developers.对于turtlebot和它的开发者多样的用途全景：http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot-Developer%20Habitats

2. Interacting with your Turtlebot 和你的Turtlebot交互
   

   The many ways you can provoke/inspire your turtlebot to action! 你可以使用多种方法来激起/激发你的turtlebot运动起来！：http://wiki.ros.org/turtlebot/Tutorials/indigo/Interacting%20with%20your%20Turtlebot

3.准备

1. Turtlebot Installation Turtlebot安装

   Installing software onto the turtlebot.向turtlebot上安装软件。：http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation

2. PC Installation PC安装
   

   Installing the software for your monitoring workstation pc.为监控站PC安装软件 ：http://wiki.ros.org/turtlebot/Tutorials/indigo/PC%20Installation
   

3. Network Configuration 网络设置
   

   Get turtlebot and your pc chatting to each other.使turtlebot和你的PC相互交流 ：http://wiki.ros.org/turtlebot/Tutorials/indigo/Network%20Configuration
   

4.开始

1. TurtleBot Bringup TurtleBot开始
   

   How to start the TurtleBot software.开始TurtleBot软件：http://wiki.ros.org/turtlebot_bringup/Tutorials/indigo/TurtleBot%20Bringup

2. PC Bringup PC开始
   

   Connecting to the turtlebot from the PC.从PC连接turtlebot：http://wiki.ros.org/turtlebot_bringup/Tutorials/indigo/PC%20Bringup

3. TurtleBot Care and Feeding TurtleBot维护和充电
   

   This tutorials explains how to charge and maintain your TurtleBot.该教程解释了如何为你的TurtleBot充电和维护。

4. Create Odometry and Gyro Calibration 创建测程和陀螺仪校正
   

   This is only necessary if you have a Create base. The Kobuki comes with a factory calibrated gyro. This will show you how to calibrate or test the calibration of a TurtleBot which is highly recommended when running any navigation based application.只有当你有一个Create基盘的话这是需要的。Koburi带有一个工厂校准的陀螺仪。这将向你展示如何校准或测试TurtleBot校准，这是非常建议的如果运行任何导航应用的话。

5.应用

 1）四处看看

1. A First Interaction 第一个交互
   

   Run your first interaction with the turtlebot - chatter!运行你的第一个turtlebot交互——chatter!：http://wiki.ros.org/turtlebot/Tutorials/indigo/A%20First%20Interaction。

2. Visualisation 可视化
   

   Find and call launchers to visualise the turtle and its data streams.寻找并呼叫启动器来可视化turtle和它的数据流。

3. 3D Visualisation 3D可视化
   

   Visualising 3d and camera data from the kinect/asus.来自kinect/asus的3D可视化和相机数据

 

 

Teleoperation

1. Keyboard Teleop

   Keyboard teleoperation of a turtlebot.

2. Joystick Teleop

   Joystick teleoperation of a turtlebot.

3. Qt Teleop

   Qt teleoperation of a turtlebot.

4. Interactive Markers Teleop

   A tutorial describing how to use rviz interactive markers for controlling the TurtleBot.