测试turtlebot2

http://wiki.ros.org/turtlebot/Tutorials

安装

sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs

测试

运行如下命令

roslaunch turtlebot_bringup minimal.launch --screen

报如下错：

[ WARN] [1426225321.364907925]: Kobuki : device does not (yet) available, is the usb connected?.
[ WARN] [1426225321.615097034]: Kobuki : no data stream, is kobuki turned on?

并且通过下面命令查看/dev/kobuki设备不存在。

ls -n /dev | grep kobuki

解决办法：
创建udev rule

rosrun kobuki_ftdi create_udev_rules

重新插拔USB，再次执行下面命令查看/dev/kobuki设备不存在。

ls -n /dev | grep kobuki

通过keyboard_teleop控制底座的移动

roslaunch turtlebot_teleop keyboard_teleop.launch --screen

SLAM

生成地图

默认使用xtion

roslaunch turtlebot_bringup minimal.launch --screen
roslaunch turtlebot_navigation gmapping_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch

通过keyboard_teleop控制底座的移动

roslaunch turtlebot_teleop keyboard_teleop.launch --screen