turtlebot | turtlebot stack provides all the basic drivers | Robotics library

by turtlebot C++ Version: Current License: BSD-3-Clause

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kandi X-RAY | turtlebot Summary

turtlebot is a C++ library typically used in Automation, Robotics, OpenCV applications. turtlebot has no bugs, it has no vulnerabilities, it has a Permissive License and it has low support. You can download it from GitHub.

The turtlebot stack provides all the basic drivers for running and using a [TurtleBot] with [ROS] ROS Wiki : (

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turtlebot has a low active ecosystem.

It has 224 star(s) with 274 fork(s). There are 46 watchers for this library.

It had no major release in the last 6 months.

There are 22 open issues and 166 have been closed. On average issues are closed in 167 days. There are 4 open pull requests and 0 closed requests.

It has a neutral sentiment in the developer community.

The latest version of turtlebot is current.

Quality

turtlebot has 0 bugs and 0 code smells.

Security

turtlebot has no vulnerabilities reported, and its dependent libraries have no vulnerabilities reported.

turtlebot code analysis shows 0 unresolved vulnerabilities.

There are 0 security hotspots that need review.

License

turtlebot is licensed under the BSD-3-Clause License. This license is Permissive.

Permissive licenses have the least restrictions, and you can use them in most projects.

Reuse

turtlebot releases are not available. You will need to build from source code and install.

It has 460 lines of code, 0 functions and 24 files.

It has low code complexity. Code complexity directly impacts maintainability of the code.

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turtlebot Key Features

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turtlebot Examples and Code Snippets

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Community Discussions

Trending Discussions on turtlebot

Will bad camera calibration affect pixel coordinates?

Ros_posible_python_mistake

How to build a drone with ROS2 and (indoor) navigation function

Turtlebot3 bringup failes to connect to ttyACM0

Get compressed image from camera in ROS using image_transport

Duration calculation and control in ROS - furthermore why does this script keep running even after pressing Ctrl-C?

Raspberry Pi Camera Tutorial Issue

Gazebo stuck at loading your world

Can't establish connection to Web Server using rosbridge

QUESTION

Will bad camera calibration affect pixel coordinates?

Asked 2022-Jan-21 at 23:46

I am working with Turtlebots and ROS, and using a camera to find the pixel positions of a marker in the camera. I've moved over from simulations to a physical system. The issue I'm having is that the pixel positions in my physical system did not match the pixel positions in the physical system despite the marker and everything else being in the same position as in the simulations. There was a shift in the vertical pixel position by about 40 pixels when everything else like the height between the camera and marker, the marker position, and the distance between the marker and camera were the same in both the physical and simulated system. The simulated system does not need a camera calibration matrix, it is assumed to be ideal.

The resolution I'm using is 640x480, so the center pixels should be cx=320 and cy=240, but what I noticed in the camera calibration matrix I was using in the physical system was that the cx was around 318, which is pretty accurate, but the cy was around 202, which is far from what it should be. This also made me think that the shift in pixel positions in the vertical direction is shifted with about the same amount of pixels that I'm getting as an error.

So is it right to assume that the error in the center pixel in the calibration could be causing the error in the pixel positions?

I have been trying to calibrate a USB camera (Logitech C920 I think) and I've been using the camera_calibrator ROS package found here http://wiki.ros.org/camera_calibration to calibrate the camera. I think the camera calibration did not go that well, seeing as I always have a pretty big error in either cx or cy. Here are the calibration matrices.

First calibration matrix, used 15x10 vertices with size 0.25

Recalibrated but did not actually use this yet, calibrated with 8x6 size 0.25

Same as previous, some difference between the two

The checkerboards were on A4 papers.

Thanks in advance.

...

ANSWER

Answered 2022-Jan-21 at 23:46

I believe the answer to your question is to answer how to perform a better camera calibration.

Quoting from Calib.io enter link description here:

Choose the right size calibration target.
Perform calibration at the approximate working distance (WD) of your final application.
The target should have a high feature count.
Collect images from different areas and tilts.
Use good lighting.
Calibration is only as accurate as the calibration target used. Use laser or inkjet printed targets only to validate and test.
Per sample, proper mounting of calibration target and camera.
Remove bad observations. Carefully inspect reprojection errors.
Obtaining a low re-projection error does not equal a good camera calibration. Be careful of over fitting.

Source https://stackoverflow.com/questions/70807609

QUESTION

Ros_posible_python_mistake

Asked 2022-Jan-12 at 21:21

guys I am making basic run and stop program for ROS simulation and I found a problem. I don't know why, when the call back function runs the self.l_scan = scan_data -> updates like it should. But when the is_obstacle member function runs. The self.l_scan is empty. I have probably some spell mistake, but I tried to look for it like for hour and I can not find the mistake. The topic /scan is from Turtlebot and it runs like it should. I tried via echo.

Code

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ANSWER

Answered 2022-Jan-12 at 21:21

Your issue is because you're immediately calling move after finishing the constructor; where you setup the subscriber. This means there is relatively 0 chance that any data has been received. Instead, you should be validating that you have enough data before trying to slice the list and other operations on the data; because these operations assume you do have data. Something like this:

Source https://stackoverflow.com/questions/70688356

QUESTION

How to build a drone with ROS2 and (indoor) navigation function

Asked 2021-Sep-01 at 12:01

my name is chaos and I am learning how to control a drone with ROS2.

My current goal is to master indoor drone navigation. I don't have any experience with this, so I found and tried The Construct's ROS Q&A series「2D Drone Navigation」. It's very helpful and I learned how to build a drone with ROS 1.
2D Drone Navigation：https://www.youtube.com/watch?v=dND4oCMqmRs&t=71s

But I am a ROS beginner and many people, including the official ROS2 Tutorials, recommend starting with ROS2.

So here are my questions:

１． How can I reproduce the functions which are introduced in 「2D Drone Navigation」with ROS2？ Are there any backwards compatible ROS packages that will work in ROS2 ? For example, I couldn't find 「gmapping, amcl and move_base」packages or scripts in turtlebot3_navigation2 ROS2 branch. If there are best practices for this, please tell me.
ROS1 turtlebot_navigation
ROS2 turtlebot3_navigation2

２． I am going to try 「[ROS Projects] - Performing LSD-SLAM with a ROS based Parrot AR.Drones」next. Like question 1, I would like to know whether there is a ROS2 version of these instructions.
Performing LSD-SLAM with a ROS based Parrot AR.Drones

３． My final goal is to realize something like the video below. Are there any ROS2 packages that could help make indoor navigation with a drone easier?
drone indoor navigation with ROS

Lastly, I have a question about choosing my drone's core.

I am learning how to build my drone with ROS2 by watching micro-ros tutorials and using the macro MAV「Crazyflie」used in micro-ros's demo.
demo link

I plan to switch to PX4 in the future because PX4 supports ROS2 and communicates with ROS2 like 「Crazyflie」. (overview)

It seems Ardupilot will support ROS2 in the future but still use MAVROS, which is called 「Not future proof」in the video below (DDS/ROS2 bridge vs MAVROS). Therefore, I think PX4 is the best choice for now. Please let me know if my conclusion is wrong.

DDS/ROS2 bridge vs MAVROS 3:01 ~

ROS2 MAVROS support for Ardupilot

Thank you so much for all your help. I hope I haven't asked too many questions.

...

ANSWER

Answered 2021-Aug-21 at 17:14

Since your question is kind of broad, I'll just go down the list and answer each part.

What you mean here are actually forwards compatible ROS nodes(ROS1 nodes that work with ROS2). While on the surface ROS1 and ROS2 are similar there are very distinct syntax differences; there's also substantial differences on the backend. ROS2 doesn't yet have the fully fleshed out community support that you've noticed with ROS1. However, there are still some similar packages such as the Nav2 package.
Like my last answer you are going to find less in terms of "off the shelf" solutions for ROS2. That being said, the Nav2 package does do some SLAM. There is also the robot_devkit.
One of the better local planners for ROS1 was teb. While they've said there are plans to port it to ROS2 they are waiting for Nav2 builds to be a little more stable. I know of the nav2_planner, however, I've never used it and cannot speak to how well it will work(if at all).

I unfortunately cannot answer your last question since my ROS experience is strictly with autonomous vehciles that stay on the ground.

Source https://stackoverflow.com/questions/68872859

QUESTION

Turtlebot3 bringup failes to connect to ttyACM0

Asked 2021-May-30 at 18:51

I have worked with the turtlebot without issues, but at one seemingly random point I could not run the bringup of the turtlebot

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ANSWER

Answered 2021-May-30 at 18:51

Rerunning the command rosrun turtlebot3_bringup create_udev_rules helps. Although it sometimes also doesn't. I ran this command on the one day, it worked. The day after: it didn't. Two days after that (today) it did work again.

You can give it a try.

Update: Not for long.. after the third bringup it again doesn't work..

Source https://stackoverflow.com/questions/67727142

QUESTION

Get compressed image from camera in ROS using image_transport

Asked 2020-Aug-28 at 19:42

I'm using ROS version 1 on a turtlebot and I would like to write a C++ program that captures an image in JPEG format, so I can provide the image to a service that needs it to be in that format. I'm trying to use image_transport and compressed_image_transport to achieve this. It looks like the basic structure should be:

...

ANSWER

Answered 2020-Aug-28 at 19:42

So after some research, I figured out the problem. Basically, when you want to capture compressed image data, you need to run:

Source https://stackoverflow.com/questions/63637002

QUESTION

Duration calculation and control in ROS - furthermore why does this script keep running even after pressing Ctrl-C?

Asked 2020-Aug-08 at 15:24

I have written some code to make the turtlebot turn around. The code is working. What I want to know is how fast the turtlebot is running and how I can control it. Forexample, how can I ensure that the turtlebot turns 5 degrees in one minute? Last part of the question. After pressing Ctrl-C, the turtlebot stops but the script keeps running. Why? and how can I stop that?

this post does not really help.

went through this post .Does that mean that the while loop below runs 5 times a second regardless of the values I put in the for loops? Or does it mean ROS tries its best to make sure that the loop runs 5 times a second to the best of my machine's ability? Thank you very much.

...

ANSWER

Answered 2020-Aug-08 at 15:24

According to ROS Wiki, the rospy.Rate convenience class makes a best effort to maintain the loop running at the specified frequency by considering the execution time of the loop since the last successful r.sleep(). This means in your case: as long as the code execution time within the loop does not exceed 1/5 seconds, rospy.Rate will make sure the loop runs at 5Hz.

Regarding the script not stopping when pressing Ctrl-C: KeyboardInterrupt will be handled differently than in normal Python scripts when using rospy. rospy catches the KeyboardInterrupt signal to set the rospy.is_shutdown() flag to true. This flag is only checked at the end of each loop, therefore if pressing Ctrl-C during the for-loop executions, the script cannot be stopped because the flag is not checked immediately.

A manual way to signal a shutdown of the node is to use rospy.signal_shutdown(). For this, the disable_signals option needs to be set to true when initializing the ROS node (see Section 2.3 here). Note that you will additionally have to manually invoke the correct shutdown routines to ensure a proper cleanup.

Source https://stackoverflow.com/questions/63205076

QUESTION

Raspberry Pi Camera Tutorial Issue

Asked 2020-Jun-05 at 13:36

I am working through a short tutorial (see link below) to publish an image stream in ROS Raspberry Pi camera: https://www.theconstructsim.com/publish-image-stream-ros-kinetic-raspberry-pi/.

I have ignored the steps to install Ubuntu mate OS on the raspberry pi as I have already completed this when completing the Turtlebot3 tutorial from Robotis (see link below): https://emanual.robotis.com/docs/en/platform/turtlebot3/setup/#setup

I have completed the steps to "Get the LCD screen up and running" with no issues.

I was unsure if I should install the Full ROS Kinetic, as I completed this during the Turtlebot3 tutorials (link above). Am I incorrect in saying this? The Turtlebot tutorial set up both the Remote PC and the Turtlebot robot (including the raspberry pi and the OpenCR setup).

I am running into issues on the "Setting up raspberry pi camera" section.

This is the following code and error I am receiving;

...

ANSWER

Answered 2020-Jun-05 at 13:36

You need to run the import command inside a Python script. So you create a file called camera-test.py for example and enter the following lines:

Source https://stackoverflow.com/questions/62216462

QUESTION

Gazebo stuck at loading your world

Asked 2020-May-05 at 21:41

https://i.imgur.com/hYf1Bes.jpgm I am trying to set up ROS and Gazebo in a VM running Ubuntu. The goal is that I want to simulate Turtlebot with the open manipulator.

I installed everything without any issues. Though I am not able to launch the Turtlebot environment on Gazebo (like here: http://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/)

$roslaunch turtlebot3_fake turtlebot3_fake.launch results in Gazebo staying forever in the state loading your world. After some time, it stops responding. Launching the empty world however works.

I am using ROS 1 with Gazebo 7.0

My hardware setup: MacBook Pro 13" 2019 with 16 GB RAM Parallels VM: 3D virtual. ON, no performance limit, 4 CPU kernels, 12 GB RAM enabled

Thank you so much for your help.

...

ANSWER

Answered 2020-May-05 at 21:41

After every change you made source your bash and make sure to run :

Source https://stackoverflow.com/questions/61622351

QUESTION

Can't establish connection to Web Server using rosbridge

Asked 2020-Apr-02 at 09:34

I have created a simple HTML page to control the movement of a simulated Gazebo Turtlebot using roslaunch rosbridge_server rosbridge_websocket.launch following this tutorial.

However, in the Web Console of the HTML page (F12) it shows the error "Firefox cant establish a connection to the server at ws://localhost:9090/." I am using the default rosbridge for the websocket(9090). In the Terminal I am also receiving the errors:

[-] failing WebSocket opening handshake ('WebSocket connection denied: origin 'null' not allowed')

[-] dropping connection to peer tcp4:127.0.0.1:41290 with abort=False: WebSocket connection denied: origin 'null' not allowed.

Does anyone have any suggestions on how I can fix this?

...

ANSWER

Answered 2020-Apr-02 at 09:34

Given that you have followed the ROS tutorial and have created an HTML file as shown in Ros Bridge tutorial then you have to run:

runcore
rosrun rospy_tutorials add_two_ints_server
roslaunch rosbridge_server rosbridge_websocket.launch

Now that you have these up and running, you need to serve the html/javascript file (e.g. simple.html) and start the services etc. For example, you can serve the simple.html by using a SimpleHTTPServer, see below an example (e.g. simplehttpserver_test.py):

Source https://stackoverflow.com/questions/60967404

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Install turtlebot

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