Confusion when Creating a Robot Configuration Launch File for my specific robot
I am working through the following Navigation Tutorials on ROS.org (link below)
http://wiki.ros.org/navigation/Tutori...
I am using Ubuntu16.04LTS & ROS Kinetic.
My robot is the Turtlebot3 Waffle Pi that is equipped with a 2D LDS and a raspberry pi camera (link below to waffle pi specs):
https://emanual.robotis.com/docs/en/p...
In section 2.2 on the ROS navigation tutorial I am slightly confused. I have created the my_robot_configuration.launch file and have pasted in the below text as advised on the tutorial.
<launch>
<node pkg="sensor_node_pkg" type="sensor_node_type" name="sensor_node_name" output="screen">
<param name="sensor_param" value="param_value" />
</node>
<node pkg="odom_node_pkg" type="odom_node_type" name="odom_node" output="screen">
<param name="odom_param" value="param_value" />
</node>
<node pkg="transform_configuration_pkg" type="transform_configuration_type" name="transform_configuration_name" output="screen">
<param name="transform_configuration_param" value="param_value" />
</node>
</launch>
I then need to edit the above text to suit my robot and the sensors etc.
So I first need to:
Replace "sensor_node_pkg" with the name of the package for the ROS driver for my sensor
Replace "sensor_node_type" with the type of the driver for my sensor
Replace "sensor_node_name" with the desired name for my sensor node
And finally replace "sensor_param" with any parameters that my node might take
The 2D LDS that is equipped with my robot is the hls_lfcd_lds_driver (see link below):
http://wiki.ros.org/hls_lfcd_lds_driver
I had carried out some tutorials for the turtlebot3 on the robotis page so I should have this information in the turtlebot3 launch files?
For points 1 to 4 above I found the Turtlebot3_lidar.launch file and have pasted that text into my new text file as below:
<launch>
<node pkg="hls_lfcd_lds_driver" type="hlds_laser_publisher" name="turtlebot3_lds" output="screen">
<param name="port" value="/dev/ttyUSB0" />
<param name="frame_id" value="$(arg set_frame_id)"/>
</node>
However, I am very confused and unsure where to find similar information for the odometry packages and the transform configuration packages.
Where should this be found?
Sorry if this message is too long, I wanted to be as specific as I could.
I don't have a turtlebot but I do have google. Your ODOM is being published by turtlebot3_core so if you launch using the documentation provided with the robot it will taken care of. If you just want to learn, you can use the launch files provided with the robot to get an understanding of how they work.
@jimc91 Where you able to figure everything out? I'm having struggles with this as well.