| ... | ... | @@ -2,61 +2,78 @@ TurtleBot is a ROS standard platform robot. There are 3 versions of the TurtleBo |
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The TurtleBot3 version adopts ROBOTIS smart actuator DYNAMIXEL for driving. TurtleBot3 is a small, affordable, programmable, ROS-based mobile robot. The TurtleBot3 can be customized into various ways depending on how you reconstruct the mechanical parts and use optional parts such as the computer and sensor. In addition, TurtleBot3 is evolved with cost-effective and small-sized SBC that is suitable for robust embedded system, 360 degree distance sensor and 3D printing technology.
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[[_TOC_]]
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* [Working with the TurtleBot3 Burger](#working-with-the-turtlebot3-burger)
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* [Specification](#specification)
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* [Getting started using ROS 1](#getting-started-using-ros-1)
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* [Configuring](#configuring)
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* [Launching ROS](#launching-ros)
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* [Getting started using ROS 2](#getting-started-using-ros-2)
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* [Working with TurtleBot3 Waffle with arm](#working-with-turtlebot3-waffle-with-arm)
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* [Specifications](#specifications)
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* [Mobile part Specification](#mobile-part-specification)
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* [Arm part Specification (OpenManipulator RM-X52 TNM)](#arm-part-specification-openmanipulator-rm-x52-tnm)
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* [Getting started using ROS 1](#getting-started-using-ros-1-1)
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* [Configuring](#configuring-1)
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* [Launching ROS](#launching-ros-1)
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* [Getting started using ROS 2](#getting-started-using-ros-2-1)
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* [Gazebo with multi-turtlebot3s](#gazebo-with-multi-turtlebot3s)
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* [configure gazebo launch file](#configure-gazebo-launch-file)
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* [Control robot](#control-robot)
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# Working with the TurtleBot3 Burger
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The TurtleBot3 burger is the smallest turtlebot3 mobile robot. It is composed of 2 DYNAMIXEL servomotors (one for each wheel), 1 OpenSource control card (OpenCR ARM Cortex-M7), 1 Raspberry Pi3, sensors for the navigation with 360° LiDAR.
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<img src="./images/turtlebot3-burger1.jpg" width="300" height="350">
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## Specification
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+ Max translational speed: 0,22 m/s
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+ Max rotational speed: 162,72°/s
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+ Max payload: 15kg
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+ Size: 138 × 178 × 192 mm
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+ Weight: 995g
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+ Autonomy: 2h30 (Lithium Polymer Battery 11,1 V 1800 mAh/19.98 Wh 5C)
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+ Input: 100-240 V, 50/60 Hz CA, 1,5 A @ max
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+ Output: 12 Vcc, 5 A
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+ 3-axis gyroscope
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+ 3-axis accelerometer
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+ 3-axis magnetometer
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+ 360° LiDAR
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* Max translational speed: 0,22 m/s
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* Max rotational speed: 162,72°/s
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* Max payload: 15kg
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* Size: 138 × 178 × 192 mm
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* Weight: 995g
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* Autonomy: 2h30 (Lithium Polymer Battery 11,1 V 1800 mAh/19.98 Wh 5C)
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* Input: 100-240 V, 50/60 Hz CA, 1,5 A @ max
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* Output: 12 Vcc, 5 A
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* 3-axis gyroscope
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* 3-axis accelerometer
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* 3-axis magnetometer
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* 360° LiDAR
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## Getting started using ROS 1
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### Configuring
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+ Configuring the Remote PC
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* Configuring the Remote PC
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Add the following lines in the .bashrc of your Remote PC to define the necessary environment variables for runnning ROS:
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```plaintext
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export TURTLEBOT3_MODEL=burger
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export ROS_MASTER_URI=http://IP_OF_SERVER_RUNNING_ROSCORE:11311
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export ROS_HOSTNAME=IP_OF_REMOTE_PC
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```
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+ export TURTLEBOT3_MODEL=burger
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+ export ROS_MASTER_URI=http://IP_OF_SERVER_RUNNING_ROSCORE:11311
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+ export ROS_HOSTNAME=IP_OF_REMOTE_PC
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```
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Reinitialize the environment of your Remote PC:
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```
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```plaintext
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(Remote PC)> source ~/.bashrc
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```
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Note: IP_OF_SERVER_RUNNING_ROSCORE can be equal to IP_OF_REMOTE_PC in case you run /roscore/ on the Remote PC. The ROS_MASTER_URI is necessary for connecting the ros node running on your Remote PC to the ros master node, i.e. the one running /roscore/.
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+ Configuring the TurtleBot3 Burger
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* Configuring the TurtleBot3 Burger
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From the remote PC, connect to the Burger by ssh:
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```
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```plaintext
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(Remote PC)> ssh pi@{IP_ADDRESS_OF_BURGER}
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```
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Add the following lines in the .bashrc of the Burger to define the necessary environment variables for runnning ROS:
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```
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```plaintext
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+ export TURTLEBOT3_MODEL=burger
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+ export ROS_MASTER_URI=http://IP_OF_SERVER_RUNNING_ROSCORE:11311
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+ export ROS_HOSTNAME=IP_OF_BURGER
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| ... | ... | @@ -64,41 +81,46 @@ Add the following lines in the .bashrc of the Burger to define the necessary env |
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Reinitialize the environment of your Burger:
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```
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```plaintext
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(Burger)> source ~/.bashrc
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```
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### Launching ROS
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+ Launching roscore
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```
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* Launching roscore
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```plaintext
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(Remote PC)>roscore
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```
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+ Starting the burger
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```
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* Starting the burger
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```plaintext
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(Remote PC)>ssh pi@{IP_ADDRESS_OF_BURGER}
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(Burger)>[ROS_NAMESPACE=myspace] roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="myspace" set_lidar_frame_id:="myspace/base_scan"
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(Remote PC)>[ROS_NAMESPACE=myspace] roslaunch turtlebot3_bringup turtlebot3_remote.launch multi_robot_name:=myspace
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```
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+ Using a simulated burger with _gazebo_
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```
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* Using a simulated burger with _gazebo_
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```plaintext
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(Remote PC)>roslaunch turtlebot3_gazebo turtlebot3_world.launch
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(Remote PC)>roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch
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```
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(if you need to use /clock in your ros package, you have to be aware about /use_sim_time parameter defined in the launch file)
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<img src="./images/turtlebot3_burger2.png" width="600" height="250">
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+ Using a simulated burger with _rviz_
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(if you need to use /clock in your ros package, you have to be aware about /use_sim_time parameter defined in the launch file) 
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```
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* Using a simulated burger with _rviz_
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```plaintext
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(Remote PC)>[ROS_NAMESPACE=/myspace] roslaunch turtlebot3_fake turtlebot3_fake.launch
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```
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(if you use a specific namespace, dont forget to change it in the rviz interface (e.g. /odom by /myspace/odom))
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<img src="./images/turtlebot3-rviz.png" width="400" height="300">
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+ Controlling the burger with keyboard
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```
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(if you use a specific namespace, dont forget to change it in the rviz interface (e.g. /odom by /myspace/odom)) 
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* Controlling the burger with keyboard
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```plaintext
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(Remote PC)>[ROS_NAMESPACE=/myspace] roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
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```
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| ... | ... | @@ -110,71 +132,72 @@ TODO |
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The waffle follows the same philosophy as the burger. The main difference is a bigger platfom and the possibility of installing a robotic arm on it. Also the waffle can be used as a mobile manipulator capable of manipulating an object by attaching a manipulator like OpenMANIPULATOR.
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<img src="./images/turtlebot3-waffle1.jpg" width="300" height="350">
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## Specifications
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### Mobile part Specification
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+ Max translational speed: 0,26 m/s
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+ Max rotational speed: 104,27°/s
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+ 2 servomotors Dynamixel XM430-W210-T
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+ Max payload: 30kg
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+ Size: 281 x 306 x 141 mm
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+ Weight: 1,8g
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+ Autonomy: 2h (Lithium Polymer Battery 11,1 V 1800 mAh/19.98 Wh 5C)
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+ Input: 100-240 V, 50/60 Hz CA, 1,5 A @ max
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+ Output: 12 Vcc, 5 A
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+ 3-axis gyroscope
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+ 3-axis accelerometer
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+ 3-axis magnetometer
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+ 360° LiDAR
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+ Raspberry Pi Camera
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* Max translational speed: 0,26 m/s
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* Max rotational speed: 104,27°/s
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* 2 servomotors Dynamixel XM430-W210-T
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* Max payload: 30kg
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* Size: 281 x 306 x 141 mm
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* Weight: 1,8g
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* Autonomy: 2h (Lithium Polymer Battery 11,1 V 1800 mAh/19.98 Wh 5C)
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* Input: 100-240 V, 50/60 Hz CA, 1,5 A @ max
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* Output: 12 Vcc, 5 A
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* 3-axis gyroscope
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* 3-axis accelerometer
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* 3-axis magnetometer
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* 360° LiDAR
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* Raspberry Pi Camera
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### Arm part Specification (OpenManipulator RM-X52 TNM)
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+ 5xServomotors: Dynamixel XM430-W350-T x 5
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+ Power: 12V
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+ Degrees of freedom: 5 (4 for arm, 1 for gripper)
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+ Max payload: 500g
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+ Rotation speed: 46rpm
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+ 1xgripper with openning between 20 to 75mm
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+ Communication: TTL with Multi Drop bus
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+ Weight: 700g
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+ Range: 380mm
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* 5xServomotors: Dynamixel XM430-W350-T x 5
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* Power: 12V
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* Degrees of freedom: 5 (4 for arm, 1 for gripper)
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* Max payload: 500g
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* Rotation speed: 46rpm
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* 1xgripper with openning between 20 to 75mm
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* Communication: TTL with Multi Drop bus
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* Weight: 700g
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* Range: 380mm
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## Getting started using ROS 1
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### Configuring
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+ Configuring the Remote PC
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* Configuring the Remote PC
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Add the following lines in the .bashrc of your Remote PC to define the necessary environment variables for runnning ROS:
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```
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```plaintext
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+ export TURTLEBOT3_MODEL=waffle_pi
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+ export ROS_MASTER_URI=http://IP_OF_SERVER_RUNNING_ROSCORE:11311
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+ export ROS_HOSTNAME=IP_OF_REMOTE_PC
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```
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Reinitialize the environment of your Remote PC:
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```
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```plaintext
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(Remote PC)> source ~/.bashrc
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```
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Note: IP_OF_SERVER_RUNNING_ROSCORE can be equal to IP_OF_REMOTE_PC in case you run /roscore/ on the Remote PC. The ROS_MASTER_URI is necessary for connecting the ros node running on your Remote PC to the ros master node, i.e. the one running /roscore/.
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+ Configuring the TurtleBot3 Waffle
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* Configuring the TurtleBot3 Waffle
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From the remote PC, connect to the Waffle by ssh:
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```
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```plaintext
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(Remote PC)> ssh pi@{IP_ADDRESS_OF_WAFFLE}
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```
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Add the following lines in the .bashrc of the Waffle to define the necessary environment variables for runnning ROS:
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```
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```plaintext
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+ export TURTLEBOT3_MODEL=waffle_pi
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+ export ROS_MASTER_URI=http://IP_OF_SERVER_RUNNING_ROSCORE:11311
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+ export ROS_HOSTNAME=IP_OF_WAFFLE
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Reinitialize the environment of your Waffle:
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```
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```plaintext
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(Waffle)> source ~/.bashrc
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```
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### Launching ROS
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+ Launching roscore
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```
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* Launching roscore
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```plaintext
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(Remote PC)>roscore
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```
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+ Starting the Waffle
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```
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* Starting the Waffle
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```plaintext
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(Remote PC)>ssh pi@{IP_ADDRESS_OF_WAFFLE}
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(Waffle)>[ROS_NAMESPACE=myspace] roslaunch turtlebot3_bringup turtlebot3_robot.launch
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```
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+ Using a simulated Waffle with _gazebo_
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```
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* Using a simulated Waffle with _gazebo_
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```plaintext
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(Remote PC)>roslaunch turtlebot3_gazebo turtlebot3_world.launch
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```
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(if you need to use /clock in your ros package, you have to be aware about /use_sim_time parameter defined in the launch file)
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<img src="./images/turtlebot3_burger2.png" width="600" height="250">
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+ Controlling the Waffle with keyboard
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```
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(if you need to use /clock in your ros package, you have to be aware about /use_sim_time parameter defined in the launch file) 
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* Controlling the Waffle with keyboard
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```plaintext
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(Remote PC)>roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
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```
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+ Controlling the Waffle Arm
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+ Run Bringup node for OpenMANIPULATOR on TurtleBot3
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```
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* Controlling the Waffle Arm
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* Run Bringup node for OpenMANIPULATOR on TurtleBot3
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```plaintext
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roslaunch turtlebot3_manipulation_bringup turtlebot3_manipulation_bringup.launch
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```
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+ Launch move group
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```
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* Launch move group
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```plaintext
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(Remote PC)>roslaunch turtlebot3_manipulation_moveit_config move_group.launch
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```
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+ Launch moveit feature in rviz
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```
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* Launch moveit feature in rviz
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```plaintext
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(Remote PC)>roslaunch turtlebot3_manipulation_moveit_config moveit_rviz.launch
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```
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+ Launching the GUI controller
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```
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* Launching the GUI controller
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```plaintext
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(Remote PC)>roslaunch turtlebot3_manipulation_gui turtlebot3_manipulation_gui.launch
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```
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## Getting started using ROS 2
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TODO
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| ... | ... | @@ -234,13 +271,13 @@ TODO |
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Gazebo is a robotics simulation framework that allows several different robots to evolve in a predefined spatial environment. By example, it is possible to deploy several turtlebot3 burgers in a simulated environment of the 4th floor of Fayol building.
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<img src="./images/gazebo-fayol.png" width="600" height="350">
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## configure gazebo launch file
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Deploying multiple robots in gazebo requires defining the deployment configuration with robot type, robot location, and ROS environment (NAMESPACE).
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This configuration is stipulated in a launch type file. An example of launch file with 3 turtlebot3 burgers is:
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```
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Deploying multiple robots in gazebo requires defining the deployment configuration with robot type, robot location, and ROS environment (NAMESPACE). This configuration is stipulated in a launch type file. An example of launch file with 3 turtlebot3 burgers is:
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```plaintext
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<launch>
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<arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
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<arg name="first_tb3" default="tb3_0"/>
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```
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In first, we define the robot configuration:
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+ the model `<arg name="model" default="burger" doc="model type [burger, waffle, waffle_pi]"/>`
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+ the namespace `<arg name="first_tb3" default="tb3_0"/>`
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+ the localization `<arg name="first_tb3_x_pos" default="-7.0"/> <arg name="first_tb3_y_pos" <arg name="first_tb3_z_pos" default=" 0.0"/> <arg name="first_tb3_yaw" default=" 1.57"/>default=" 0.0"/>`
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* the model `<arg name="model" default="burger" doc="model type [burger, waffle, waffle_pi]"/>`
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* the namespace `<arg name="first_tb3" default="tb3_0"/>`
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* the localization `<arg name="first_tb3_x_pos" default="-7.0"/> <arg name="first_tb3_y_pos" <arg name="first_tb3_z_pos" default=" 0.0"/> <arg name="first_tb3_yaw" default=" 1.57"/>default=" 0.0"/>`
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In second, we define the gazebo environment:
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+ spatial environment `<arg name="world_name" value="$(find turtlebot3_gazebo)/models/turtlebot3_world/fayol-4et-1.sdf"/>`
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+ simulation time `<arg name="use_sim_time" value="true"/>`
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+ with user interface `<arg name="gui" value="true"/>`
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* spatial environment `<arg name="world_name" value="$(find turtlebot3_gazebo)/models/turtlebot3_world/fayol-4et-1.sdf"/>`
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* simulation time `<arg name="use_sim_time" value="true"/>`
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* with user interface `<arg name="gui" value="true"/>`
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In last, we configure the robot deployment using group syntax:
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+ label of the namespace `<group ns = "$(arg first_tb3)">`
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+ robot urdf `<param name="robot_description" command="$(find xacro)/xacro $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />`
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+ robot intialization with tf_prefix for robot topics
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```
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* label of the namespace `<group ns = "$(arg first_tb3)">`
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* robot urdf `<param name="robot_description" command="$(find xacro)/xacro $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />`
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* robot intialization with tf_prefix for robot topics
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```plaintext
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<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
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<param name="publish_frequency" type="double" value="50.0" />
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<param name="tf_prefix" value="$(arg first_tb3)" />
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<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model $(arg first_tb3) -x $(arg first_tb3_x_pos) -y $(arg first_tb3_y_pos) -z $(arg first_tb3_z_pos) -Y $(arg first_tb3_yaw) -param robot_description" />
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```
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<img src="./images/gazebo-fayol-tb.png" width="600" height="350">
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## Control robot
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+ Control one specific burger, e.g. burger tb3_0, with keyboard using his namespace
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```
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* Control one specific burger, e.g. burger tb3_0, with keyboard using his namespace
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```plaintext
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>ROS_NAMESPACE=/tb3_0 roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
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```
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+visualize data of burger tb3_0 in rviz
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```
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\+visualize data of burger tb3_0 in rviz
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```plaintext
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>rosrun rviz rviz
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>> Change fixed frame with the reference of tb3_0 burger `tb3_0/odom`
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>> Add robot model, change robot description with `tb3_0/robot_description` and add tf_prefix with tb3_0
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>> Add laser scan and set topic with `tb3_0/scan`
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```
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<img src="./images/gazebo-rviz1.png" width="400" height="350"> |
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\ No newline at end of file |
