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Applications for TurtleBot3

Home Page: http://turtlebot3.robotis.com

License: Apache License 2.0

CMake 19.07% Python 55.93% C++ 25.00%

robotis robot dynamixel turtlebot3 turtlebot mobile ros package gazebo slam

turtlebot3_applications's Introduction

TurtleBot3

ROS Packages for TurtleBot3 Applications

Version	Kinetic + Ubuntu Xenial	Melodic + Ubuntu Bionic

ROBOTIS e-Manual for TurtleBot3

ROBOTIS e-Manual for TurtleBot3

Wiki for turtlebot3_applications Packages

Open Source related to TurtleBot3

Documents and Videos related to TurtleBot3

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turtlebot3_applications's Issues

Turtlebot3 follower example pickle.load error

Hello Sir/Madam,

I have followed the tutorial given in this link http://emanual.robotis.com/docs/en/platform/turtlebot3/applications/ to run the turtlebot follower demo. I am able to complete all the steps but in the last step when i give the command "roslaunch turtlebot3_follower turtlebot3_follower.launch", it is throwing the error
Traceback (most recent call last):
File "/home/eccf130/catkin_ws/src/turtlebot3_applications/turtlebot3_follower/nodes/follower", line 142, in
main()
File "/home/eccf130/catkin_ws/src/turtlebot3_applications/turtlebot3_follower/nodes/follower", line 137, in main
follow = follower()
File "/home/eccf130/catkin_ws/src/turtlebot3_applications/turtlebot3_follower/nodes/follower", line 36, in init
self.clf = pickle.load(f)
File "/usr/lib/python2.7/pickle.py", line 1384, in load
return Unpickler(file).load()
File "/usr/lib/python2.7/pickle.py", line 864, in load
dispatchkey
File "/usr/lib/python2.7/pickle.py", line 1139, in load_reduce
value = func(*args)
File "sklearn/tree/_tree.pyx", line 601, in sklearn.tree._tree.Tree.cinit
ValueError: Buffer dtype mismatch, expected 'SIZE_t' but got 'long long'

When I googled the error it give answers like "pickle file is not portable across platforms". I am running the example in Ubuntu 16.04 32 bit OS, intel core i5 system. Can you share the information of the model and where it is created (32 bit or 64 bit).

Regards
Dani

load multi-turtlebot3 in follower

I want to load multi-turtlebot3 in the follower demo just as the video demonstrated, I tried to add ROS_NAMESPACE before "roslaunch ...", but it didn't work.

No Transform From [camera] to base_footprint

Automatic Parking Vision problems

Hello Sir/Madam,

I have installed your turtlebot3 application packages, I follow the instructions provided on the website, everything shows up with no errors, however when I run the turtlebot3_automatic_parking_vision package, no errors, the robot detects the AR tags, but it keeps on rotating and does not stop to correct its angle to move in the desired directions. Is there any possible advice to give or do you know of anything in particular to change in the automatic_parking_vision node?

Secondly the bigger goal of this is that I am mainly using this package to implement a mass-spring-damper system for the turtlebot3. This is where the turtlebot3 waffle_pi detects the marker and aligns itself to the marker just like the first part of the automatic parking vision algorithm, but this time the control law is to maintain a distance of 50cm away from tracker using full state feedback controller. Do you recommend changing the FnGoStraightpart, or do you recommend creating a new method to move towards to goal, or any other suggestions?

Kindest Regards,
DynamicalNAV

roslaunch turtlebot3_bringup turtlebot3_robot.launch from a service

Hello, I am trying to run the roslaunch turtlebot3_bringup turtlebot3_robot.launch from a service to load at the start of the robot but it does not work. If I see the status of the service it does not show any errors. I am doing something wrong ? This is possible ?

pi@raspberrypi:~/catkin_ws/src/turtlebot3/turtlebot3_bringup/launch $ sudo systemctl status robotin.service
● robotin.service - start roscore
Loaded: loaded (/etc/systemd/system/robotin.service; disabled; vendor preset:
Active: active (running) since Wed 2019-10-23 17:01:07 CST; 43s ago
Main PID: 1410 (rosCoreService.)
Tasks: 31 (limit: 4915)
CGroup: /system.slice/robotin.service
├─1410 /bin/bash /usr/local/bin/rosCoreService.sh
├─1467 /usr/bin/python /opt/ros/kinetic/bin/roslaunch turtlebot3_brin
├─1480 /usr/bin/python /opt/ros/kinetic/bin/rosmaster --core -p 11311
├─1493 /opt/ros/kinetic/lib/rosout/rosout __name:=rosout __log:=/root
├─1498 python /opt/ros/kinetic/lib/rosserial_python/serial_node.py __
├─1507 /home/pi/catkin_ws/devel/lib/hls_lfcd_lds_driver/hlds_laser_pu
└─1512 /home/pi/catkin_ws/devel/lib/turtlebot3_bringup/turtlebot3_dia

Oct 23 17:01:07 raspberrypi systemd[1]: Started start roscore.
Oct 23 17:01:40 raspberrypi rosCoreService.sh[1410]: the rosdep view is empty: c
lines 1-16/16 (END)

I appreciate your help

Can I use Turtlebot3 Burger on this demo automatic_parking_vision?

And I run in the terminal
$ export TURTLEBOT3_MODEL=waffle_pi
$ roslaunch turtlebot3_automatic_parking_vision turtlebot3_automatic_parking_vision.launch

first look on the terminal nothing error but my turtlebot just spinning arround and can't go to the target, and finally getting the error

please help :(
fyi, i use turtlebot3 burger; OS SBC :raspbian; OS REMOTE_PC: UBUNTU_16.04

Questions about the algorithm used in turtlebot3_applications/follower.py

Dear Mr/Ms,

I am a graduate student from China and a beginner in ROS and turtlebot3. Recently i have been working on turtlebot3 to do some research in object tracking. I am reading the code of follower.py from pkg turtlebot3_applications and i have some questions for it as follows.

In follower.py, you use the intensities field in /LaserScan msg to do the people object check rather than the range or angle. I google LaserScan intensity but get very little useful information. So could you please explain to me why the intensities field can be used to do the object detection instead of range and angle? What factor can affect the value of intensities and is there an equation to determine the value?
What's more, in follower.py, it seems that only a line code is used to detect the object as follows:
[x for (x , y) in self.labels.iteritems() if y == self.clf2.predict(laser_data_set) ]
I am confused about the meaning of this line. And when i debug the code, i want to see the inner code of function predict(), but it turns out to be 'no definition'. So what algorithms do you use in this line of code? Is it scikit_learn library? If so, what exact algorithms do you use in this library? And I have read the file clf in config folder, it consists of characters and numbers but i cannot understand them. What is it? A trained classifier?

Sorry for the bother. I will greatly appreciate it if you could reply to me soon! Thank you very much. And i have to say, TurtleBot3 is awesome!

Have a nice day!
Steven Zhu

Modified design burger never reach the goal

Good evening, I have modified the design of my burger to install additional equipment, I separated the wheels, modified the height, I made it longer, etc. Additionally, the footprint parameter has also been modified according to the approximate dimensions in the costmap_common_params_burger.yaml file.
My problem is that now when I send the robot to 2d nav gold in Rviz the burger never reach it and moves from one place to another without being able reach the goal.

How can I solved this problem ? thanks for your help

No Transform from [camera] to [base_footprint]

and the terminal when i run
$ roslaunch turtlebot3_automatic_parking_vision turtlebot3_automatic_parking_vision.launch

please help me :(

Run the "turtlebot3_bringup" automatically after turtle boot

Hello .
I am a beginner in ROS and I want to run the "turtlebot3_bringup" automatically after turtle boot. Can you tell me what is the best way to do this? Do you have any examples?
Thanks for your help

Follow Filter don't work anymore

When launching follow filter the following error happens.

terminate called after throwing an instance of 'ros::InvalidNameException' what(): Character [ ] at element [6] is not valid in Graph Resource Name [~exist intensity 500 to 4000]. Valid characters are a-z, A-Z, 0-9, / and _.

The installation is new on a ubuntu 18.04.4.
I don't know where it can come from.

Is it a known issue?

Thanks in advance for your help.

Can I use 2 camera, so uses 2 raspberry pi on this demo automatic_parking_vision?

Ar marker not detected

Hi,

we are working on automatic parking vision with waffle_pi as per the instruction guided in the e-manual. Firstly, after launching the turtlebot3_automatic_parking_vision command, the robot is able to detect the armarker but not able to review with id or its name (ar_maker as shown in video in rviz). Can you let me know have i missed any package or any other modifications has to be made in the code.

Secondly when it started to move, its continuously rotating in a same place and not detecting the ar marker that is pasted on the wall.

Can you please consider and let us know why is this problem, and what has to be modified in the source code.

turtlebot3_automatic_parking

Is Auto_Parking compatible with Noetic and DIY made robots?

Automatic parking vision.

I have printed the AR marker, the software is able to detect the AR marker. But the robot just keep turning circular motion on the spot. How can I solve this problem

Follower Node not Working

Hello,

I'm getting the following error on executing the follower application:

File "/root/catkin_ws/src/turtlebot3_applications/turtlebot3_follower/nodes/follower", line 46, in check_people
if np.nan_to_num( self.msg.intensities[i] ) != 0 :
IndexError: tuple index out of range

On checking the size of self.msg.intensities, I'm getting 252 instead of 360. Any reason for this? The other SLAM packages are working fine for me.

Avoiding obstacles move_base package

Hello, your help please,Is there any example about how to use data from laser and IR/ultrasonic Sensor together to avoid obstacles with move_base package?

TurtleBot Waffle PI not moving

After starting the commands:
roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch [Turtlebot]

roslaunch turtlebot3_panorama panorama.launch [Remote]
rosservice call turtlebot3_panorama/take_pano 0 360.0 30.0 0.3 [Remote]
Only the following commands are shown in terminal:
[ INFO] [1528113614.391267503]: Degrees to go: 360
[ INFO] [1528113614.391356133]: rotate
[ INFO] [1528113614.491229042]: rotate
[ INFO] [1528113614.591234680]: rotate
[ INFO] [1528113614.691244960]: rotate
[ INFO] [1528113614.791200727]: rotate
[ INFO] [1528113614.891235382]: rotate
[ INFO] [1528113614.991248516]: rotate
[ INFO] [1528113615.091162402]: rotate
[ INFO] [1528113615.191176301]: rotate
[ INFO] [1528113615.291207926]: rotate
[ INFO] [1528113615.391169771]: rotate
but turtlebot3 Waffle PI is not moving at all.

Even after sending
rosservice call turtlebot3_panorama/take_pano 2 360.0 30.0 0.3 [Remote]
I cannot see any camera picture as shown in the below screenshot.

When i click on Camera/rgb/image_raw in rqt_image_view i get the images of the camera, so the pi camera should work.

Edit:
i guess the command
roslaunch turtlebot3_bringup turtlebot3_robot.launch [Turtlebot]
has to be launched in advance as well after that the robot starts spinning when
rosservice call turtlebot3_panorama/take_pano 0 360.0 30.0 0.3 [Remote]
gets called

Now the turtlebot is spinning around but after it finished one round it get the following error
in the terminal which runs roslaunch turtlebot3_panorama panorama.launch:
[ INFO] [1528123708.812500594]: snap
[ INFO] [1528123709.812693421]: Stiching 2 images
[ INFO] [1528123709.891097584]: Finished Stiching
[ERROR] [1528123709.891145396]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8).
OpenCV Error: Unknown error code -10 (Raw image encoder error: Empty JPEG image (DNL not supported)) in throwOnEror, file /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/imgcodecs/src/grfmt_base.cpp, line 140
[ERROR] [1528123709.891331341]: /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/imgcodecs/src/grfmt_base.cpp:140: error: (-10) Raw image encoder error: Empty JPEG image (DNL not supported) in function throwOnEror
[ERROR] [1528123709.891373088]: [theora] Failed to create encoding context

This error seems to occur when the following command is run during image acquisition
rqt_image_view image:=/turtlebot3_panorama/panorama
and seems to be related to the issue of two instances accessing the same jpeg file

In all cases the panorama image remains grey (see below) when looking at it via
rqt_image_view image:=/turtlebot3_panorama/panorama

even so i get the message in the terminal which runs roslaunch turtlebot3_panorama panorama.launch
[ INFO] [1528123914.836793089]: Stiching 7 images
[ INFO:0] Initialize OpenCL runtime...
[ INFO] [1528123915.545787520]: Finished Stiching
[ INFO] [1528123915.546026709]: Publishing Completed Panorama