turtlebot-follower

Project Repo for Turtlebot Project for ECE6562.

ROS Setup

These sections give a basic rundown of the steps that should be taken to setup a computer for testing software, or testing code on the TurtleBot itself.

Catkin Setup

Follow these steps to setup this repo with ROS. You will be able to reference the nodes/topics in this repo once complete.

0. Make sure you have ROS installed and setup already.

1. Clone this repository

   git clone https://github.com/jjones646/turtlebot-follower
   

2. Go to folder that was created with the above command

   cd ./turtlebot-follower
   

3. Run the setup script with regular privileges - accepting the script's changes to ~/.bashrc is highly recommended

   ./setup.sh
   

4. Source your ~/.bashrc file again - that's it!

   . ~/.bashrc
   

Python Libraries

To install python packages that aren't supported natively in ROS, use pip.

pip install -r requirements.txt

Repository Lists

To install the required ROS repository references, run the install-meta.sh script. Be sure to edit the first few lines of the script for installing for correct distro of ROS.

./install-meta.sh

Running

To run this package with ROS, issue the below command from any directory.

roslaunch turtlebot_gt turtlebot.launch

To open a graph of all nodes/topics and their conenctions, set the debug argument when launching.

roslaunch turtlebot_gt turtlebot.launch debug:=true

If you wish to test something outside the lab using your own camera, specify the no_kinect argument.

roslaunch turtlebot_gt turtlebot.launch no_kinect:=true

To update the tracking profile values, invoke the profiler.launch file instead. Once started, a window will appear. Place the ball within the circle, then press q to store the new profile.

roslaunch turtlebot_gt profiler.launch

Adding Nodes

Add new nodes, and remap current topics by editing turtlebot.launch.