West Point Documentation in this section:

What has been tested in Simulation

• Start the simulation:
  ros2 launch turtlebot3_manipulation_bringup gazebo.launch.py

• Options to run in simulation:

  1. Run NAV2 with a known map
     ros2 launch turtlebot3_manipulation_navigation2 navigation2_use_sim_time.launch.py slam:='False'

     • After RVIZ opens, you need to set the initial pose using the "2d Pose Estimate" button
     • Then drop a goal to navigate toward with the "Nav2 Goal" button

  2. Run NAV2 with SLAM (No known map)
     ros2 launch turtlebot3_manipulation_navigation2 navigation2_use_sim_time.launch.py use_slam:='True'

     • After RVIZ opens, wait about 1 minute for initial map to be generated
     • Then drop a goal to navigate toward with the "Nav2 Goal" button

  3. Run example arm control code from [email protected]:westpoint-robotics/ee484_projects.git (Drives in circle and moves manipulator repeatedly between 4 poses):
     ros2 launch tbot3_manipulation_python test_joint_control.launch.py

What has been tested on Real Hardware

• On the Raspberry Pi5 bring up the Turtlebot:
  ros2 launch turtlebot3_manipulation_bringup hardware.launch.py

• Options to run on real hardware:

  1. Run NAV2 with SLAM with no known map (usually run on a remote computer to facilitate the useage of GUIs):
     ros2 launch turtlebot3_navigation2 navigation2.launch.py slam:='False' use_sim_time:="False" use_rviz:="True"

  2. Run NAV2 with a known map (usually run on a remote computer to facilitate the useage of GUIs):
     ros2 launch turtlebot3_navigation2 navigation2.launch.py slam:='True' use_sim_time:="False" use_rviz:="True"

  3. Run example arm control code from [email protected]:westpoint-robotics/ee484_projects.git
     (Drives in circle and moves manipulator repeatedly between 4 poses):
     ros2 launch tbot3_manipulation_python test_joint_control.launch.py

TurtleBot3 with OpenMANIPULATOR

• Active Branches: noetic, humble, jazzy, main(rolling)
• Legacy Branches: *-devel

Open Source Projects Related to TurtleBot3 and OpenMANIPULATOR

• turtlebot3
• turtlebot3_msgs
• turtlebot3_simulations
• turtlebot3_manipulation
• turtlebot3_manipulation_simulations
• turtlebot3_applications
• turtlebot3_applications_msgs
• turtlebot3_machine_learning
• turtlebot3_autorace
• turtlebot3_home_service_challenge
• hls_lfcd_lds_driver
• ld08_driver
• open_manipulator
• dynamixel_sdk
• dynamixel_workbench
• OpenCR-Hardware
• OpenCR

Documentation, Videos, and Community

Official Documentation

• ⚙️ ROBOTIS DYNAMIXEL
• 📚 ROBOTIS e-Manual for Dynamixel SDK
• 📚 ROBOTIS e-Manual for TurtleBot3
• 📚 ROBOTIS e-Manual for OpenMANIPULATOR-X

Learning Resources

• 🎥 ROBOTIS YouTube Channel
• 🎥 ROBOTIS Open Source YouTube Channel
• 🎥 ROBOTIS TurtleBot3 YouTube Playlist
• 🎥 ROBOTIS OpenMANIPULATOR YouTube Playlist

Community & Support

• 💬 ROBOTIS Community Forum
• 💬 TurtleBot category from ROS Community