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turtlebot_bringup minimal vs turtlebot3_bringup turtlebot3_robot

Hi all,

I need to clarify something about the turtlebot_bringup

I am trying to implement the Mapping and Navigation with Turtlebot tutorial and the following command is given to start the TurtleBot base functionality.

roslaunch turtlebot_bringup minimal.launch

Is this command only applicable to TurtleBot 2? and should it be replaced with 

roslaunch turtlebot3_bringup turtlebot3_robot.launch

for TurtleBot 3? What are the other commands I should be changing if I am using a TurtleBot 3 instead of TurtleBot 2? For example is this command

roslaunch rtabmap_ros demo_turtlebot_mapping.launch

applicable to TurtleBot 3 or should it be replaced with something else? If so what should I replace it with?

My PC and OS specs are:

TIA!

Asked by csg on 2018-07-08 13:52:22 UTC

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Answers

You'll need to use this for Turtlebot3 https://github.com/ROBOTIS-GIT/turtlebot3

All the tutorials for turtlebot3 are given here. http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/

Asked by PratNag on 2018-07-08 14:11:40 UTC

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Hello PratNag, I have already went through these resources and I could't find the TB3 equivalent tutorial of the Mapping and Navigation Tutorial that is designed for TB2. I need to do RGB-D SLAM using TB3's R200 camera.

Asked by csg on 2018-07-10 07:11:54 UTC

if you see here https://github.com/ROBOTIS-GIT/turtlebot3/blob/master/turtlebot3_bringup/launch/turtlebot3_realsense.launch 

roslaunch turtlebot3_bringup turtlebot3_realsense.launch

to directly launch with R200 camera.

Asked by PratNag on 2018-07-13 06:30:12 UTC

If you have doubts about the name of the launch files. You can directly go to the source in the github repo and check.

Asked by PratNag on 2018-07-13 06:31:00 UTC

I think you are supposed to some dependencies for RGB-D SLAM with realsense. Let follows below commands

$ sudo apt-get install ros-indigo-openni2-camera ros-indigo-openni2-launch
$ sudo apt-get install ros-indigo-depthimage-to-laserscan

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
$ roslaunch turtlebot3_bringup turtlebot3_realsense.launch
$ export TURTLEBOT3_MODEL=waffle
$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
$ rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw_output_frame_id:=/base_scan

Asked by Darby Lim on 2018-07-16 00:52:50 UTC

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