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turtlebot2 / kobuki base

asked 2015-12-22 12:19:55 -0500

goupil35000 gravatar image


I want to use turtlebot2 package ... with another robot. I'm experienced to use ROS (nodes, topics ...), to compile ... and to use my robots with a previous version of ROS and I need now to use indigo with them, so to use turtlebot2 package and modify it. My problem is to find the way to do it, specially to find where are defined all the exchanges between hardware and nodes.

So I need to modify turtlebot2 package to be able to use my robot. So my questions are simple: - where can I find information about type of exchanges between nodes and hardware (and in which node ?); - I have no imu on my robot (but I have kinect). How can I find solution to use turtlebot2 package without it ?

Thanks a lot.

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Do you have an existing turtlebot to run as a reference? If so, you could run the turtlebot and do an rqt_graph to see all the running nodes & nodelets, then use that as your reference guide for how it works.

mkhansen gravatar image mkhansen  ( 2015-12-22 14:26:57 -0500 )edit

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answered 2015-12-23 10:37:24 -0500

mkhansen gravatar image

The Turtlebot navigation package is based on the overall ROS navigation package, and I think that is what you really want. Read this page: and try tutorial #18. Make sure you have components for your sensors and actuators, you may have to write those yourself.

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answered 2015-12-22 17:32:18 -0500

goupil35000 gravatar image

Thanks for reply but I have no turtlebot 2.

But may be what I have to do is not to modify turtlebot2 package but kobuki package ?

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Do you have a kobuki? What is the base type of your robot? If it is a kobuki base, you can look at the launch files for the turtlebot and find the kobuki launch files for that portion of it. If you are not you will have to start from scratch and build your own.

mkhansen gravatar image mkhansen  ( 2015-12-22 20:12:30 -0500 )edit

No, my robots are Eddie robots from parallax ( ). So I want to use them like turtlebot. And may be I miss some interesting information on the wiki for ros, but how to be able to find exchange between turtlebot package and hardware if you don't have the hardware ?

goupil35000 gravatar image goupil35000  ( 2015-12-23 03:39:36 -0500 )edit

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Asked: 2015-12-22 12:19:55 -0500

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Last updated: Dec 22 '15