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turtlebot_bringup minimal vs turtlebot3_bringup turtlebot3_robot

asked 2018-07-08 13:52:22 -0500

csg gravatar image

updated 2018-07-09 10:38:49 -0500

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:

  • Ubuntu 16.04.4 LTS \n \l
  • 4.13.0-45-generic
  • 64-bit machine


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answered 2018-07-08 14:11:40 -0500

PratNag gravatar image

You'll need to use this for Turtlebot3

All the tutorials for turtlebot3 are given here.

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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.

csg gravatar image csg  ( 2018-07-10 07:11:54 -0500 )edit

if you see here

roslaunch turtlebot3_bringup turtlebot3_realsense.launch

to directly launch with R200 camera.

PratNag gravatar image PratNag  ( 2018-07-13 06:30:12 -0500 )edit

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

PratNag gravatar image PratNag  ( 2018-07-13 06:31:00 -0500 )edit

answered 2018-07-16 00:52:50 -0500

Darby Lim gravatar image

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
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Asked: 2018-07-08 13:52:22 -0500

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Last updated: Jul 16 '18