turtlebot | Basic scripts for TurtleBot ( ROS | Robotics library
kandi X-RAY | turtlebot Summary
kandi X-RAY | turtlebot Summary
Basic (hello world style) scripts for TurtleBot (ROS / Python)
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Top functions reviewed by kandi - BETA
- Deliver a Coffee button .
- Initialize the robot .
- Moves the turtle .
- go to close the turtle
- Called when the button is pressed .
- Callback called when an image is received .
- Takes a picture .
- Stop the bot .
turtlebot Key Features
turtlebot Examples and Code Snippets
Community Discussions
Trending Discussions on 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'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 19:42So after some research, I figured out the problem. Basically, when you want to capture compressed image data, you need to run:
QUESTION
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 15:24According 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.
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
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 :
QUESTION
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 09:34Given that you have followed the ROS tutorial and have created an HTML file as shown in Ros Bridge tutorial then you have to run:
runcorerosrun rospy_tutorials add_two_ints_serverroslaunch 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):
QUESTION
I needed to run some parts of the code in GPU using cupy instead of numpy. So, I only made comment out for this line # import numpy as np and used this line instead of it import cupy as np
the full code:
...ANSWER
Answered 2019-Nov-11 at 05:59The detections need to be a Cupy array too.
QUESTION
if __name__ == '__main__':
rospy.init_node('gray')
settings = termios.tcgetattr(sys.stdin)
pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)
x = 0
th = 0
node = Gray()
node.main()
ANSWER
Answered 2019-Nov-27 at 10:32Also, callback function runs every 0.1 seconds.
I believe this is incorrect. I see that you have made a self.r object but never used it anywhere in the code to achieve an update rate of 10hz. If you want to run the main loop at every 0.1 seconds, you will have to call your commands within the following loop (see rospy-rates) before calling rospy.spin():
QUESTION
I am currently testing several slam algorithms in a real TurtleBot(ROS Kinetic). Despite the fact that everything seems to be working fine on TurtleBot I have come across a problem on the maps coming from odometry based slam algorithms. Although I changed the TurtleBot base to figure out whether the base had hardware or odometry issues, the maps remained the same. The lidar I use has maximum range up to 17m.
Gmapping (using odometry) I tested gmapping with these parameters:
...ANSWER
Answered 2019-Mar-06 at 04:31I find that a good way to test the basic odometry is:
- Launch the turtlebots with just minimal no gmapping or any other slam.
- Start rviz and make sure the fixed frame is set to a world frame like odom or map (verify the name from your TF tree).
- Add the laser to it and set a Decay Time of about 100 secs.
- Keep the robot infront of a wall and command it to move towards the wall. As the robot moves forward the 'position of the wall' in the laser data in your world frame should look more or less stationery. This gives you the assurance that your forward odometry is ok.
- Then put the robot near a corner or someplace where there are big 3D objects in the laser's view. Then command the robot to rotate. Once again all the corners and 3D objects should stay stationary.
If you can do the above successfully then you should be able to make reasonable 'raw' maps before using any SLAM algorithms.
QUESTION
On a raspberry pi - arv7l I'm compiling the following C++ program
...ANSWER
Answered 2019-May-09 at 13:31I understand that on 32-bit systems size_t is 32 bit and may be different than unsigned long but still this should compile?
This is not correct. You are correct that the types have the same size, but size is not what makes a type a type. For instance we have signed char, unsigned char, and char. All three have a size of 1, but all three are distinct types named by the standard.
In your case size_t* is a unsigned int* and since that is a different type than a long unsigned int*, you cannot implicitly cast it to one.
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Install turtlebot
You can use turtlebot 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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