Turtlebot3 - Start on ROS1 or ROS2?

asked 2020-10-20 16:53:19 -0600

Hey ROS community!

I asked this on the ROBOTIS forum (and they're great I'm sure) but I'd appreciate your feedback...

I am an ECE Master's student working on my first robotics project. Just starting out on ROS and looking to do it right. Excited about the journey!

I just got my Turtlebot3 Waffle Pi and a PincherX-100 which uses Protocol 2.0 servos. I'm hoping it should match up to the libraries provided by Robotis (Turtlebot) for their OpenManipulator-X arm which has the same servo setup / communications protocol.

My project goals for the turtlebot: it can drive itself (automation), navigate it's environment (SLAM), interact using a robot arm with objects that it discovers in it's field of vision (OpenCV/Tensorflow + Raspberry Pi Camera).

Should I be looking to go down the ROS1 path - for which Robotis seems to have built out a catalog of libraries and tutorials - or should I be looking at ROS2 which seems AWESOME but is still in development?

I noticed there are some "coming soon" sections relevant to my project in the ROS2 portion of their emanual.

I'd really like to go down the ROS2 path (dashing) but my university is struggling with the ZOOM classrooms and no labs. I'm looking to avoid adding unnecessary difficulty to the project.

Thanks for the feedback!

Josh

Here's a link to their manual which seems very well written... https://emanual.robotis.com/docs/en/p...

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