Loading TurtleBot 2 simulator software
by Dr. Thomas L. Harman, Carol Fairchild
ROS Robotics By Example - Second Edition
- ROS Robotics By Example Second Edition
- Table of Contents
- ROS Robotics By Example Second Edition
- Credits
- About the Authors
- About the Reviewer
- www.PacktPub.com
- Customer Feedback
- Preface
- 1. Getting Started with ROS
- What does ROS do and what are the benefits of learning ROS?
- Which robots are using ROS?
- Installing and launching ROS
- Creating a catkin workspace
- ROS packages and manifest
- ROS nodes, topics, and messages
- Turtlesim – the first ROS robot simulation
- ROS commands summary
- Summary
- 2. Creating Your First Two-Wheeled ROS Robot (in Simulation)
- Introducing rviz
- Creating and building a ROS package
- Building a differential drive robot URDF
- Gazebo
- Summary
- 3. Driving Around with TurtleBot
- Introducing TurtleBot 2
- Loading TurtleBot 2 simulator software
- Launching TurtleBot 2 simulator in Gazebo
- Setting up to control a real TurtleBot 2
- Networking the netbook and remote computer
- TurtleBot 2 hardware specifications
- Moving the real TurtleBot 2
- Introducing rqt tools
- TurtleBot's odometry
- TurtleBot 2 automatic docking
- Introducing TurtleBot 3
- Loading TurtleBot 3 simulation software
- Launching TurtleBot 3 simulation in rviz
- Launching TurtleBot 3 simulation in Gazebo
- Hardware assembly and testing
- Loading TurtleBot 3 software
- Networking TurtleBot 3 and the remote computer
- Moving the real TurtleBot 3
- Summary
- 4. Navigating the World with TurtleBot
- 3D vision systems for TurtleBot
- Configuring TurtleBot and installing the 3D sensor software
- Testing the 3D sensor in standalone mode
- Running ROS nodes for visualization
- Navigating with TurtleBot
- Summary
- 5. Creating Your First Robot Arm (in Simulation)
- Features of Xacro
- Building an articulated robot arm URDF using Xacro
- Controlling an articulated robot arm in Gazebo
- Summary
- 6. Wobbling Robot Arms Using Joint Control
- 7. Making a Robot Fly
- 8. Controlling Your Robots with External Devices
- 9. Flying a Mission with Crazyflie
- 10. Controlling Baxter with MATLAB©
- Index
This section deals with loading software packages for the TurtleBot simulator. The physical TurtleBot is not involved because these software packages are loaded on your laptop or desktop computer. It is assumed that Ubuntu 16.04 and ROS Kinetic software are installed on the computer that you will use for the simulation. This installation is described in the Installing and launching ROS section in Chapter 1, Getting Started with ROS.
In a terminal window, type the following command:
$ sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-simulator ros-kinetic-kobuki-ftdi ros-kinetic-turtlebot-gazebo
A large number of ROS packages are loaded by the sudo apt-get command. The groups are as follows:
- The TurtleBot software has ROS packages to simulate TurtleBot and control the real TurtleBot. The TurtleBot simulator download includes the
turtlebot_gazebopackage. - The Kobuki software consists of ROS packages used to drive or simulate the mobile base.
To view the TurtleBot packages downloaded in each category, type the following command:
$ rospack list | grep turtlebot
To see the packages that apply to the base, type the following command:
$ rospack list | grep kobuki
The other software can be viewed in a similar way.
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