🐢 Turtle Bot Instructions

Common Commands:

echo 'source /opt/ros/jazzy/setup.bash' >> ~/.bashrc
source ~/.bash.rc

echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
source ~/.bashrc

Simulation Stage

Gazebo Sim:

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

RViz:

source ~/.bashrc
rviz2

Control:

source ~/.bashrc
ros2 run turtlebot3_teleop teleop_keyboard

Checking:

ros2 topic list

--> should see topics like:

/cmd_vel
/odom
/scan
/tf

Hardware Integration Stage

Single Board Computer (SBC) Setup:

https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup

SSH:

ssh rosi@turtlebot3.local

After Connecting:

https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/

Installing ROS into Raspberry Pi:

https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#install-ros-2

Connecting for remote control:

bot side

export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_bringup robot.launch.py

ubuntu machine side

ros2 run turtlebot3_teleop teleop_keyboard

Lidar:

Change Reliability Policy in LaserScan to "Best Effort".

Checking Battery Status:

ros2 topic echo /battery_state --once

Camera:

install usb_cam first.

ros2 run usb_cam usb_cam_node_exe --ros-args
-p video_device:=/dev/video0
-p image_width:=320
-p image_height:=240
-p framerate:=5.0
-p pixel_format:=yuyv2rgb

Docker:

cd ~/turtlebot3_ws/src/turtlebot3/docker/jazzy
sudo ./container.sh start
sudo ./container.sh enter

root@turtlebot3:~# ros2 launch turtlebot3_bringup robot.launch.py

SLAM (Simultaneous Localization and Mapping):

ros2 launch turtlebot3_cartographer cartographer.launch.py