turtlebot2-on-noetic

• My installing procedure about turtlebot2 on neotic (ubuntu 20.04 focal)

Kobuki

• You need to install this first.

Procedure

• Details see kobuki.sh

# create workspace
mkdir ./kobuki_ws/src/ -p
cd ./kobuki_ws/src/

# clone some source code
sh ./kobuki.sh

# make
cd ../
catkin_make

# source
source ./devel/setup.bash

Tips

• Only clone the yujinrobot/kobuki repo and catkin_make it will generate Could not find a package configuration file provided by "kobuki_msgs", so add yujinrobot/kobuki_msgs.
• Then error messages turn to Could not find a package configuration file provided by "yocs_controllers", with referenced from install_basic.sh, it needs to clone yujinrobot/yujin_ocs.
• Same, Could not find a package configuration file provided by "kobuki_dock_drive", add yujinrobot/kobuki_core.
• Same, Could not find a package configuration file provided by "ecl_mobile_robot", with referenced from kobuki_core.rosinstall, add stonier/ecl_*.
• Finally, source ./devel/setup.bash and finish.

Turtlebot2

• Inspired by Is it possible to install Turtlebot software on ROS Noetic ??

All turtlebot packages are fully stable on ROS Melodic so if you want to have those in a Noetic Distribution you may want to clone all the repositories in you catkin workspace and compile them in you enviroment. If you install all needed dependencies you should not have any problem since, generally speaking, any package stable in Melodic is likely to work properly under Noetic.

Procedure

• Details see turtlebot2.sh

# create workspaces
mkdir ./turtlebot2_ws/src/ -p
cd ./turtlebot2_ws/src/

# setup envroinment of mkbuki
source <xxx>/kobuki_ws/devel/setup.bash

# clone some source code
sh ./turtlebot2.sh

# make
cd ..
catkin_make

# source
source ./devel/setup.bash

Tips

• These procedures are almost same with https://github.com/gaunthan/Turtlebot2-On-Melodic.
• If kobuki is not be installed first, it will generate some errors: Could not find a package configuration file provided by "kobuki_driver".
• turtlebot/turtlebot_viz install rviz for turtlebot_rviz_launchers.

Work with turtlebot2

Bring Up

roslaunch turtlebot_bringup minimal.launch

Control by KeyBoard

roslaunch turtlebot_teleop keyboard_teleop.launch

Work with rviz

roslaunch turtlebot_rviz_launchers view_robot.launch

Some problem

1. Kobuki : device does not (yet) available, is the usb connected?.

Then do the obvious – make sure kobuki is turned on (leds should be active on the kobuki) and the cable is plugged in. If you are sure about both of these, check to see that your system has had the udev rule applied for /dev/kobuki

ls -n /dev | grep kobuki # nothing
rosrun kobuki_ftdi create_udev_rules
ls -n /dev | grep kobuki # has one

2. Other see turtlebot移动机器人（05）：turtlebot-Kobuki和Kinect

References

• gaunthan/Turtlebot2-On-Melodic:install_basic.sh
• yujinrobot/kobuki_core:kobuki_core.rosinstall
• Is it possible to install Turtlebot software on ROS Noetic ??
• Jetson Xavier: Turtlebot2をROS Melodicで動かす
• turtlebot移动机器人（05）：turtlebot-Kobuki和Kinect