turtlebot3 | ROS packages for Turtlebot3 | Robotics library
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turtlebot3 Key Features
turtlebot3 Examples and Code Snippets
Lines of Code : 325
License : No License
Copy np_arr = np.fromstring(ros_data.data, np.uint8)
image_np = cv2.imdecode(np_arr, cv2.IMREAD_COLOR)
K = np.array([[ 220, 0. , 320],
[ 0. , 200, 240],
[ 0. , 0. , 1. ]])
# zero distorti This module defines an Android class for ROS.
This code has been copied from ROSJAVA and modified below.
- MessagePub.java was added. The class is a class for ROS Publish.
- MessageSub.java was added. The class is a class for ROS Subcribe.
This mod sudo apt install python3 python3-tk
sudo apt install python3-pip
pip3 install numpy opencv-python
import tkinter
import numpy
import cv2
import math
import queue
cd ~//src
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://gi Community Discussions
Trending Discussions on turtlebot3
QUESTION
I am working now with the real robot which is turtlebot3 burger. As shown in the rqt_graph below, I've run my custom package which is Im adding the ann3_publisher node to be published to the gmapping package and run in the real robot.
But when I move the robot, it seems that the robot in the rviz application is not moving at all. The map and the robot is there as shown in the figure below but the robot is not moving:
I try to run rosrun rviz rviz on the terminal and add one by one, there is a warning message appear as shown in the figure below
When I run the common package roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping it works and I dont have this problem. May I know why and how to solve this?
This is my custom turtlebot3_slam.launch file to subscribe the /scan_new3 topic.
...ANSWER
Answered 2021-Oct-13 at 03:06I have got the answer. It is because the sensor of the robot reading that there is obstacle around it but there isn't. You can see on the second figure, the sensor detect the walls in circle (green color) and build the walls around it. So the robot cannot move in rviz. When I eliminate that reading, the robot can move as usual in rviz
QUESTION
I would like to improve the LDS-01 sensor of the turtlebot3 by subscribing the message.ranges, modify the messange.ranges by applying some algorithm and publish it to the new topic as shown below. But there are an error when I run the coding. The error is
- There are overflow encountered. the error is "RuntimeWarning: overflow encountered in exp a1 = 2/(1+exp(-2*n1))-1" and the value that being publish become red on the terminal after subscribing the "/scan_new" topic
- When I subscribing the new topic which is "/scan_new", the error is "WARNING: no messages received and simulated time is active. Is /clock being published?".
May I know why? and is there anyone can help with my coding? Thank you in advance!
...ANSWER
Answered 2021-Sep-09 at 15:46The reason you're not seeing output is because the message field ranges has the wrong type when trying to publish it out. y1 is a numpy.matrix and when you call tolist() it doesn't flatten it out to a 1D array, it returns a an array that contains your list. This is where the red output text is coming from. To fix the problem do:
QUESTION
I would like to improve turtlebot3 LDS-01 sensor by applying some algorithm to the sensor. So my strategy is to improve and modify the value of Laserscan.ranges (which is the distance between the sensor to the obstacles) by subscribing the “/scan” topic, applying the algorithm to the Laserscan.ranges and publish it again to the “/scan” topic. How can I do that?. I have some idea in my mind like:
Create new topic, publish the sensor value to the new topic, subscribe the new topic and applying the algorithm and lastly, publish it to the “/scan” topic. But this first idea, I cannot find the cpp or python file that publish to “/scan” topic. Where can I find that file? So that I can change the coding to publish the Laserscan.ranges to the new topic.
Modify the sensor_msgs/LaserScan by applying the algorithm to the float32 range. But this second idea, I dont know is it the message can be modified? If can, how to modify the sensor_msgs/LaserScan to apply the algorithm?
And lastly, if there are any suggestion, tutorial or online courses that I can take related to this question, I would be very happy to hear.
This image is summary for the idea 1
...ANSWER
Answered 2021-Sep-07 at 12:59You shouldn't ever publish back out on a sensor topic after modifying the message. If you do this other subscribers will just see a mixture of the modified and non-modified messages. Instead publish it out on a separate topic like this:
QUESTION
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 17:14Since 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.
QUESTION
I'm trying to boot into my Raspberry Pi 3b+ on my Turtlebot3 with the respective image (https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup). I get to the point where I need to enter the login information, but ubuntu/ ubuntu doesn't work. I have also tried pi/ raspberry etc. but nothing is correct.
Am I missing something? Is the username and pw for this image different?
...ANSWER
Answered 2021-Jun-02 at 19:02I just did a manual SBC setup, it took a while but worked out.
Update: At least for the Melodic version
user = "ubuntu" and password = "turtlebot"
QUESTION
I have worked with the turtlebot without issues, but at one seemingly random point I could not run the bringup of the turtlebot
...ANSWER
Answered 2021-May-30 at 18:51Rerunning 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..
QUESTION
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 13:36You 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:
QUESTION
I'm doing some navigation evaluation in pepper gazebo simulator. So far I've been using my navigation stack on turtlebot3 worlds, but I want to test my stack in a larger environment. Does anyone know are there some lareger already built environments with pre-built map of the environment to use in gazebo? Thanks
...ANSWER
Answered 2020-May-09 at 02:59Gazebo has a fairly large range of built-in worlds you can check through here. One that might suit your purpose in the Willow Garage Office world (shown below). If you have gazebo_ros_pkgs installed, you can launch it like so:
QUESTION
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 21:41After every change you made source your bash and make sure to run :
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Install turtlebot3
You can use turtlebot3 like any standard Python library. You will need to make sure that you have a development environment consisting of a Python distribution including header files, a compiler, pip, and git installed. Make sure that your pip, setuptools, and wheel are up to date. When using pip it is generally recommended to install packages in a virtual environment to avoid changes to the system.
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