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Turtlebot3 beginner tutorial

asked 2019-06-07 12:57:47 -0600

abeckd gravatar image

updated 2019-06-07 13:58:28 -0600

jayess gravatar image

Hello, I am very new to ROS environment and I acquired a Turtlebot3 burger model which includes RPI model B and OpenCR 1.0 board. Also y has an LDS-01 (Laser Distance Sensor), 2 Dynamixel which are the servos for the wheels, and a camara connected to the RPI CSI (Camera Serial Interface) Bus.

So my final objective is to understand how to bringup certain publishers, subscribers and topics in order:

  1. Use SLAM and make a map of an area
  2. Use this map for the robot to locate himself.
  3. Send different parameters of coordinates for the robot to stop in each of this coordinates and take a photo and bring the photo back to the initial point where he is supposed to upload it.

I have used the teleop to move around with the computer's keyboard and it works.

How do you normally bring up either nodes or topics, I have used both rosrun and roslaunch but don't understand the difference. When using roslaunch turtlebot3_bringup turtlebot3_robot.launch it appears the following error to one of the nodes:

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch 
... logging to /home/abeck/.ros/log/3915ca7a-894d-11e9-9ce5-1856808e6dd6/roslaunch-AndreasHP-15893.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://AndreasHP:37255/


 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /turtlebot3_core/baud: 115200
 * /turtlebot3_core/port: /dev/ttyACM0
 * /turtlebot3_core/tf_prefix: 
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

    turtlebot3_core (rosserial_python/
    turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)


process[turtlebot3_core-1]: started with pid [15910]
process[turtlebot3_lds-2]: started with pid [15911]
process[turtlebot3_diagnostics-3]: started with pid [15912]
[ERROR] [1559930048.869798717]: An exception was thrown: open: No such file or directory
[INFO] [1559930049.095153]: ROS Serial Python Node
[INFO] [1559930049.098751]: Connecting to /dev/ttyACM0 at 115200 baud
[ERROR] [1559930049.099805]: Error opening serial: [Errno 2] could not open port /dev/ttyACM0: [Errno 2] No such file or directory: '/dev/ttyACM0'
[turtlebot3_lds-2] process has died [pid 15911, exit code 255, cmd /home/abeck/catkin_ws/devel/lib/hls_lfcd_lds_driver/hlds_laser_publisher __name:=turtlebot3_lds __log:=/home/abeck/.ros/log/3915ca7a-894d-11e9-9ce5-1856808e6dd6/turtlebot3_lds-2.log].
log file: /home/abeck/.ros/log/3915ca7a-894d-11e9-9ce5-1856808e6dd6/turtlebot3_lds-2*.log
[turtlebot3_core-1] process has finished cleanly
log file: /home/abeck/.ros/log/3915ca7a-894d-11e9-9ce5-1856808e6dd6/turtlebot3_core-1*.log

Any help explaining main functionalities of ROS for turtlebot3 that I should know regarding to the project I must do will be highly appreciated.

Thanks in advance

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answered 2019-06-07 13:19:50 -0600

MasterTsoutsos gravatar image

If you are such a beginner start by doing the ROS tutorials if you already have not. What you are asking seems pretty well documented in the ROS Wiki. Plus Turtlebot hardware is super common.

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Asked: 2019-06-07 12:57:47 -0600

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Last updated: Jun 07 '19