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porting turtlebot2 to ROS2

asked 2020-10-30 08:51:14 -0600

ottocol gravatar image

updated 2020-11-02 10:32:43 -0600

Hi everyone: we have currently several Turtlebot 2 robots with ROS Kinetic installed, but it would be much better to have ROS2 installed in them. They work fine, have capable sensors and could function for some years but as time passes using old Ubuntu versions is more and more of a burden. Do you know of any project out there of porting Turtlebot 2 to ROS2? would it be feasible? anyone knows what it would involve? (new low level drivers? ... no idea) I understand it would not be an easy task but would like to know what the biggest hurdle would be

Thanks in advance

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No idea about TB2, but the Kobuki base has been ported: https://github.com/kobuki-base

jorge gravatar image jorge  ( 2020-11-11 03:30:26 -0600 )edit

Thanks Jorge, I'll take it a look. ¡Muchas gracias!

ottocol gravatar image ottocol  ( 2020-11-11 06:23:36 -0600 )edit

Hello, I am quite new to ROS and I have been trying to use turtlebot2 with ROS2 as well. Currently, I have managed to get successful installations of KOBUKI and the RPLIDAR A2 with ROS2. However, I am not sure on putting these two components together and linking them into turtlebot2.

I have tried the demo but it doesn't really work for me as I would have to have ROS1 installed, and those versions are already outdated.

Any ideas on how to write/rewrite scripts or any other methods to make turtlebot2 work with just pure ros2-foxy without the use of any sort of bridge?

heyai7 gravatar image heyai7  ( 2022-05-18 03:03:53 -0600 )edit

Hi, Have you been able to link the KOBUKI platform with an A2 or A1 lidar for scanning or navigation?

Sergiiio__ gravatar image Sergiiio__  ( 2023-06-14 14:19:20 -0600 )edit

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answered 2020-11-17 03:16:54 -0600

jorge gravatar image

updated 2020-11-17 03:17:50 -0600

I didn't try myself. And there are pkgs missing, as turtlebot_description. Please report if you make all work!

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@jorge@ottocol Can you tell me if your attempt to transfer the software to ROS2 was successful?

ljaniec gravatar image ljaniec  ( 2022-05-12 03:21:36 -0600 )edit

nope, didn't try yet, sorry

jorge gravatar image jorge  ( 2022-05-14 04:32:23 -0600 )edit

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Asked: 2020-10-30 08:51:14 -0600

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Last updated: May 18 '22