robofit/turtlebut

ROS packages modified for our TurtleBut robot that is based on the TurtleBot platform

turtlebut

ROS packages modified for our TurtleBut robot that is based on the TurtleBot platform

Simulation

Clone following repos to your catkin workspace:

• https://github.com/ros-simulation/gazebo_ros_pkgs
• https://github.com/ros-controls/control_toolbox
• https://github.com/ros-controls/ros_controllers
• https://github.com/ros-controls/ros_control

Install dependencies and compile.

Launch simulation:

roslaunch tb_gazebo robot_empty_world.launch

Terminal examples

Control of Kinect position (look down):

rostopic pub /dynamixel/kinect_controller/command std_msgs/Float64 '{data: -0.2}'

turtlebut's Issues

Prepare Gazebo simulation

Prepare moveit configuration

Catkinize packages

Check Kinect

There is some problem with TF for Kinect.