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Which camera for turtle3 burger and how to plug it ?

asked 2019-07-23 01:08:04 -0600

Eyrignoux gravatar image

I sent these questions to turtlebot@osrfoundation.org , and they answered me to ask them here.

I am preparing a course with Turtlebot3 burgers for Master 2 students at a French engineers school called Efrei. I intend to make them run on the autonomous race track from that page: http://emanual.robotis.com/docs/en/pl...

But first, they need to plug the camera on the turtlebot3 burger. The web page refers to "See Features of 4 screw holes in the page very carefully before mounting on the frame of any conductive materials" But I could not find that page, even on Google. Do you know if there is any guide or video for that, please ?

Another question: the webpage refers to that model: https://www.waveshare.com/rpi-camera-... But the appendix about the raspberry pi camera refers to another one: http://emanual.robotis.com/docs/en/pl... Which one do I have to buy, in order to avoid problems as much as possible ?

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answered 2019-07-25 13:21:20 -0600

duck-development gravatar image

i would recommend you to use the waveshare camere because of the fish eye. and change able lenses.

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Thank you very much ! Do you have any advice about how to plug it on the turtlebot ?

Eyrignoux gravatar image Eyrignoux  ( 2019-07-26 03:01:11 -0600 )edit
duck-development gravatar image duck-development  ( 2019-07-26 10:54:39 -0600 )edit
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answered 2021-06-09 04:03:03 -0600

rodrigo55 gravatar image

You can also use a normal USB camera along with a ROS Driver like cv_camera. To install it, run this in your terminal:

sudo apt update
sudo apt install ros-[YOUR-ROS-DISTRO]-cv-camera

Once you have this installed in your TurtleBot3, you can plug it in a USB port and test it running this node:

source /opt/ros/[YOUR-ROS-DISTRO]/setup.bash
rosrun cv_camera cv_camera_node

If it works, then create a launch file for the node and also a static transform publisher from base_link to camera_link, indicating the approximate distance to where you end up placing your camera. The file would look something like this:

<launch>

<node pkg="cv_camera" type="cv_camera_node" name="cv_camera" output="screen"/>
<node pkg="tf" type="static_transform_publisher" name="camera_frames_pub" args="0.05 0.0 0.1 0 0 0 /base_link /camera 35"/>

</launch>

If you want a step-by-step walk through of the instructions above, you can check out this video I made: https://www.youtube.com/watch?v=hH6ov...

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Asked: 2019-07-23 01:08:04 -0600

Seen: 1,083 times

Last updated: Jun 09 '21