Project Repo for Turtlebot Project for ECE6562.
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.
Follow these steps to setup this repo with ROS. You will be able to reference the nodes/topics in this repo once complete.
-
Make sure you have ROS installed and setup already.
-
Clone this repository
git clone https://github.com/jjones646/turtlebot-follower
-
Go to folder that was created with the above command
cd ./turtlebot-follower
-
Run the setup script with regular privileges - accepting the script's changes to
~/.bashrc
is highly recommended./setup.sh
-
Source your
~/.bashrc
file again - that's it!. ~/.bashrc
To install python packages that aren't supported natively in ROS, use pip
.
pip install -r requirements.txt
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
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
Add new nodes, and remap current topics by editing turtlebot.launch
.