{"id":37,"date":"2016-10-24T20:38:24","date_gmt":"2016-10-24T20:38:24","guid":{"rendered":"https:\/\/commons.mtholyoke.edu\/icrl\/?page_id=37"},"modified":"2016-10-24T20:41:11","modified_gmt":"2016-10-24T20:41:11","slug":"basic-turtlebot-navigation-guideline","status":"publish","type":"page","link":"https:\/\/commons.mtholyoke.edu\/icrl\/helpful-tools\/basic-turtlebot-navigation-guideline\/","title":{"rendered":"Basic Turtlebot Navigation Guideline"},"content":{"rendered":"

<\/h3>\n
\n
\n\n\n\n
\n
\n
\n

To download the turtlebot simulator<\/span><\/p>\n

\n\n\n<\/colgroup>\n\n\n
\n

sudo apt-get install ros-indigo-turtlebot-simulator<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n


\n<\/span><\/p>\n

To load the turtlebot simulation<\/span><\/p>\n

\n\n\n<\/colgroup>\n\n\n
\n

source \/opt\/ros\/indigo\/setup.bash
\nroslaunch turtlebot_gazebo turtlebot_world.launch<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n


\n<\/span><\/p>\n<\/div>\n

To launch the turtlebot
\n<\/span><\/span><\/p>\n\n\n\n
\u00a0roslaunch turtlebot_bringup minimal.launch<\/span><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n

To move the turtlebot<\/span><\/p>\n

\n\n\n<\/colgroup>\n\n\n
\n

roslaunch kobuki_keyop keyop.launch<\/span><\/p>\n

***OR***
\n<\/span><\/p>\n

roslaunch turtlebot_teleop keyboard_teleop.launch
\n<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

\u00a0<\/span><\/div>\n
To download the turtlebot navigation<\/div>\n
\n\n\n<\/colgroup>\n\n\n
\n

sudo apt-get install ros-indigo-turtlebot-navigation<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

This installs gmapping and amcl required for the navigation<\/p>\n

To start map building<\/span><\/p>\n

\n\n\n<\/colgroup>\n\n\n
\n

roslaunch turtlebot_gazebo gmapping_demo.launch<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n


\n<\/span><\/p>\n

Use RViz to visualize the map building process<\/span><\/p>\n

\n\n\n<\/colgroup>\n\n\n
\n

roslaunch turtlebot_rviz_launchers view_navigation.launch –screen<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n


\n<\/span><\/p>\n

Finally, save the map to disk<\/span><\/p>\n

\n\n\n<\/colgroup>\n\n\n
\n

rosrun map_server map_saver -f <your map name><\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n


\n<\/span><\/p>\n

Navigating the Background<\/span><\/p>\n

To be sure that all will run as expected, kill all you launched in the previous section and repeat all steps except the map building. Instead, type:<\/span><\/p>\n

\n\n\n<\/colgroup>\n\n\n
\n

roslaunch turtlebot_gazebo amcl_demo.launch map_file:=<full path to your map YAML file><\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

Or if you prefer to use an already created map, just omit the map_file argument.<\/span><\/p>\n

<\/a>To use the map that you saved – first close everything. Then,<\/span><\/h3>\n
\n

Load the turtlebot simulator again:<\/span><\/p>\n

\n\n\n<\/colgroup>\n\n\n
\n

source \/opt\/ros\/indigo\/setup.bash
\nroslaunch turtlebot_gazebo turtlebot_world.launch<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\n
**Need to make sure that you\u00a0ALWAYS source the bashrc file before launching the turtlebot gazebo simulator<\/div>\n
<\/div>\n
Run the navigation demo app passing in your generated map file.<\/u><\/div>\n<\/div>\n
\n\n\n<\/colgroup>\n\n\n
\n

roslaunch turtlebot_navigation amcl_demo.launch map_file:=\/tmp\/my_map.yaml<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

**When launching the map, make sure you put the full path, i.e. \/home\/turtlebot\/map1.yaml (this path should be after \u2018=\u2019)<\/p>\n

Launch RViz to visualize the map building process<\/p>\n

\n\n\n<\/colgroup>\n\n\n
\n

roslaunch turtlebot_rviz_launchers view_navigation.launch<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<\/div>\n

<\/div>\n<\/div>\n

<\/a><\/h4>\n
\n

Localize the Turtlebot<\/span><\/p>\n<\/div>\n

When starting up, the TurtleBot does not know where it is. To provide it its approximate location on the map:<\/span><\/p>\n

\n
    \n
  1. \n

    Click the\u00a0<\/span>“2D Pose Estimate” button<\/p>\n<\/li>\n

  2. \n

    Click\u00a0<\/span>on the map where the TurtleBot approximately is and drag in the direction the TurtleBot is pointing.<\/p>\n<\/li>\n<\/ol>\n

    You will see a collection of arrows which are hypotheses of the position of the TurtleBot. The laser scan should line up approximately with the walls in the map. If things don’t line up well you can repeat the procedure.<\/p>\n<\/div>\n

    <\/a>Send a navigation goal<\/span><\/h4>\n

    With the TurtleBot localized, it can then autonomously plan through the environment.<\/span><\/p>\n

    To send a goal:<\/span><\/p>\n

      \n
    1. \n

      Click the “2D Nav Goal” button<\/span><\/p>\n<\/li>\n

    2. \n

      Click on the map where you want the TurtleBot to drive and drag in the direction the TurtleBot should be pointing at the end.<\/span><\/p>\n<\/li>\n<\/ol>\n

      This can fail if the path or goal is blocked.<\/span><\/p>\n

      If you want to stop the robot before it reaches it’s goal, send it a goal at it’s current location.<\/span><\/p>\n

      <\/a>
      \n<\/span><\/h3>\n

      <\/a>On your Workstation<\/span><\/h3>\n

      This assumes you have ROS on your workstation and ROS_MASTER_URI has been set to point to your turtlebot.<\/span><\/p>\n

      Launch rviz:<\/span><\/p>\n

      # Pre-Groovy<\/span><\/p>\n

      \n\n\n<\/colgroup>\n\n\n
      \n

      rosrun rviz rviz -d `rospack find turtlebot_navigation`\/nav_rviz.vcg<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

      # Groovy or later<\/span><\/p>\n

      \n\n\n<\/colgroup>\n\n\n
      \n

      roslaunch turtlebot_rviz_launchers view_navigation.launch –screen<\/span><\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<\/div>\n<\/div>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"

      To download the turtlebot simulator sudo apt-get install ros-indigo-turtlebot-simulator To load the turtlebot simulation source \/opt\/ros\/indigo\/setup.bash roslaunch turtlebot_gazebo turtlebot_world.launch To launch the turtlebot \u00a0roslaunch turtlebot_bringup minimal.launch To move the turtlebot roslaunch kobuki_keyop keyop.launch ***OR*** roslaunch turtlebot_teleop keyboard_teleop.launch \u00a0 To download the turtlebot navigation sudo apt-get install ros-indigo-turtlebot-navigation This installs gmapping and amcl required for the … Continue reading Basic Turtlebot Navigation Guideline<\/span> →<\/span><\/a><\/p>\n","protected":false},"author":177,"featured_media":0,"parent":33,"menu_order":1,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_monsterinsights_skip_tracking":false,"footnotes":""},"class_list":["post-37","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/commons.mtholyoke.edu\/icrl\/wp-json\/wp\/v2\/pages\/37","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/commons.mtholyoke.edu\/icrl\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/commons.mtholyoke.edu\/icrl\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/commons.mtholyoke.edu\/icrl\/wp-json\/wp\/v2\/users\/177"}],"replies":[{"embeddable":true,"href":"https:\/\/commons.mtholyoke.edu\/icrl\/wp-json\/wp\/v2\/comments?post=37"}],"version-history":[{"count":3,"href":"https:\/\/commons.mtholyoke.edu\/icrl\/wp-json\/wp\/v2\/pages\/37\/revisions"}],"predecessor-version":[{"id":41,"href":"https:\/\/commons.mtholyoke.edu\/icrl\/wp-json\/wp\/v2\/pages\/37\/revisions\/41"}],"up":[{"embeddable":true,"href":"https:\/\/commons.mtholyoke.edu\/icrl\/wp-json\/wp\/v2\/pages\/33"}],"wp:attachment":[{"href":"https:\/\/commons.mtholyoke.edu\/icrl\/wp-json\/wp\/v2\/media?parent=37"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}