ixlikro / master-robotics-rospy

Master: Robotics

Working with ROS (Robot Operating System)

How to run this Code:

• Install ROS Kinetic on Ubuntu 16.04.
• Create a catkin workspace:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

• Build workspace:

cd ~/catkin_ws
catkin_make
source devel/setup.bash

• Clone this Repo inside ~/catkin_ws/src:

cd ~/catkin_ws/src
git clone https://github.com/ixLikro/master-robotics-rospy.git

• Do you want to work with gazebo and turtlebot3? Then install ros dependencies and clone some turtlebot3 repository:

sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers
cd ~/catkin_ws/src
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

For more information see here or the eManuel

• Build again:

cd ~/catkin_ws
catkin_make

After a successful build you can start nodes. For Example the hello world turtle Example:

Run in individual Terminals:

roscore

rosrun turtlesim turtlesim_node

rosrun hello_world Turtle_draw_house.py

Or a gazebo maze simulation (individual Terminals):

roscore

roslaunch maze maze2.launch

Optional: Robot tries to solve the maze autonomous

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Optional: Visualize the senor Data by rviz

export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch

Optional: Drive Robot with W A S D

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch