masutanilab/turtlebot_bringup

Turtlebot2 bringup for ROS2 (Masutani Lab version)

ros2 for TurtleBot2_bringup　(Ver. 1.0.0)

This is the turtlebot2 bring up on Dashing.
Now not supported Crystal.

implimentation

/cmd_vel

• you can control by velocity which is based on Twist type.
  If you use anguler velocity, you have to use way of degree.
  So you can only use from -100 to 100 [degree/sec]

turtlebot2/commands/reset_pose

• able to reset pose (0, 0, 0) by send True.

turtlebot2/odometry

• you can subscribe odometry which type is Quaternion.
  Not Euler!!! Be careful.

turtlebot2/imu

• you can subscribe inertial sensor data.

dashing stop

If you bring up the turtlebot2, turtlebot execute the dashing stop function.

INSTALL

First, you have to build using colcon builder.

colcon build --packages-select turtlebot_bringup

Second, you have to load the setup.bash

source install/local_setup.bash
source install/setup.bash

Third, you can run the turtlebot_bringup

ros2 run turtlebot_bringup turtlebot2

turtlebot_bringup with ydlidar_ros2

firstly, download ydlidar_ros2

git clone https://github.com/yangfuyuan/ydlidar_ros2.git

secondly, build any pacakges

colcon build

finally, load any packages

source install/local_setup.bash
source install/setup.bash

bringup minimal launch

ros2 launch turtlebot_bringup minimal.launch.py