![]() |
turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
![]() |
turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
![]() |
turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
![]() |
turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
![]() |
turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
![]() |
turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
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turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
![]() |
turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
![]() |
turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
![]() |
turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
![]() |
turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
![]() |
turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
![]() |
turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
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turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
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turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
![]() |
turtlebot_bringup package from turtlebot repolinux_hardware turtlebot turtlebot_bringup turtlebot_description |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.2.5 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | hydro |
Last Updated | 2014-05-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.2.5 (2014-05-23)
2.2.4 (2014-04-07)
- add depth argument to configure scan_processing. With this configuration scan works for both depth_regratation false and true
- Fixing "Error with diagnostics.yaml for roomba #110"
- Contributors: Jihoon Lee, Luka ÄŒehovin
2.2.3 (2014-01-14)
- Issue #113: add missing dependency on yocs_cmd_vel_mux.
- Issue #102: Battery info fixed for new laptops.
- Contributors: Jorge Santos
2.2.2 (2013-10-14)
- Rename cmd_vel_mux as yocs_cmd_vel_mux.
- Temporary fix for hub whitelists so pairing doesn't get distracted by concerts.
2.2.1 (2013-09-14)
- remove cmake install rule for now obsoleted upstart files.
2.2.0 (2013-08-29)
- convenient paired launchers (no uuids, auto-invitations).
- Robot description in paired master.
- Modularising robot description to use with paired masters.
- Remove outdated upstart directory.
- Rename include launchers to xyz.launch.xml.
- Changelogs at package level.
- Remove _mobile_base_soft.launch
- Do not use robot_pose_ekf for kobuki base. Instead, use imu for heading and encoders por x and y.
- A bunch of fixes on absolute and application namespaces
- Depend on turtlebot_description rather than the specific instances kobuki, create.
- Update dependency to openni_launch and remove component dependencies.
2.1.x - hydro, unstable
2.1.1 (2013-08-06)
- Fix TurtleBot name
- Add map manager rapp and rapp-related namespace changes to 3dsensor.launch
- Change 3dsensor.launch so we maximize use of openni_launch
- Use the new app manager
- Use the new app manager app list format. Remove turtlebot_sounds, as it's already included on rocon apps
- Public master for android app is 11311, and private master is 11312
- Add turtlebot2 icons
2.1.0 (2013-07-15)
- Catkinized
- Use more aggressive acceleration limits
- Use the new Rocon app manager: http://www.ros.org/wiki/rocon_app_manager
Previous versions, bugfixing
Available in ROS wiki: http://ros.org/wiki/turtlebot/ChangeList
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_core_apps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/minimal.launch
-
- base [default: $(optenv TURTLEBOT_BASE kobuki)]
- battery [default: $(optenv TURTLEBOT_BATTERY /sys/class/power_supply/BAT0)]
- stacks [default: $(optenv TURTLEBOT_STACKS hexagons)]
- 3d_sensor [default: $(optenv TURTLEBOT_3D_SENSOR kinect)]
- simulation [default: $(optenv TURTLEBOT_SIMULATION false)]
- launch/minimal_with_appmanager.launch
-
- base [default: $(optenv TURTLEBOT_BASE kobuki)]
- battery [default: $(optenv TURTLEBOT_BATTERY /sys/class/power_supply/BAT0)]
- stacks [default: $(optenv TURTLEBOT_STACKS hexagons)]
- 3d_sensor [default: $(optenv TURTLEBOT_3D_SENSOR kinect)]
- simulation [default: $(optenv TURTLEBOT_SIMULATION false)]
- robot_name [default: $(optenv ROBOT_NAME turtlebot)]
- robot_type [default: $(optenv ROBOT_TYPE turtlebot)]
- hub_whitelist [default: $(optenv ROBOT_HUB_WHITELIST Internal Hub)]
- rapp_lists [default: $(optenv RAPP_LIST rocon_apps/rocon.rapps;turtlebot_bringup/turtlebot.rapps)]
- robot_icon [default: turtlebot_bringup/turtlebot2.png]
- gateway_watch_loop_period [default: 10]
- launch/paired_public.launch
-
- base [default: $(optenv TURTLEBOT_BASE kobuki)]
- stacks [default: $(optenv TURTLEBOT_STACKS hexagons)]
- 3d_sensor [default: $(optenv TURTLEBOT_3D_SENSOR kinect)]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base. TODO: redirect cmd_vel_mux/output to wherever create base is listening.
-
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base. TODO: redirect cmd_vel_mux/output to wherever create base is listening.
-
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
![]() |
turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.4.2 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | kinetic |
Last Updated | 2018-07-08 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.4.2 (2016-12-22)
2.4.1 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.4.0 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- refactor concert content out of minimal and create separate concert_minimal.launch The concert_minimal.launch includes minmal.launch
- propagate netbook battery to other similar launch file
- disable the battery node if TURTLEBOT_BATTERY is set to None Fixes #224
- Contributors: Daniel Stonier, Kevin C. Wells, Tully Foote
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/concert_minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro --inorder '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
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turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml
Messages
Services
Plugins
Recent questions tagged turtlebot_bringup at Robotics Stack Exchange
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turtlebot_bringup package from turtlebot repoturtlebot turtlebot_bringup turtlebot_capabilities turtlebot_description turtlebot_teleop |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.3.14 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/turtlebot/turtlebot.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2017-11-23 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Daniel Stonier
Authors
- Tully Foote
Changelog for package turtlebot_bringup
2.3.14 (2016-12-22)
- Modify R200 launch file. Modified the R200 3D sensor launch file to conform more closely to the other open_ni2-style sensor launch files. This allows the data processing arguments passed in to correctly pass through and control image processing. This allows the turtlebot_follower package, for example, to set "depth_processing" to true to enable the /camera/depth/depth_rect/ topic with the R200 as it can with other cameras.
- Refactor cmd_vel_mux. Moved mobile_base_nodelet_manager and cmd_vel_mux to a common, higher-level launch file. Currently each base-specific mobile_base.launch.xml loaded the same cmd_vel_mux node with the same configuration. To reduce this redundancy, launching this nodelet has been moved to the common, higher-level mobile_base.launch.xml. The mobile_base_nodelet_manager has been moved up to facilitate this change.
- Remove concert reference to mobile_base.launch Added mobile_base.launch.xml back in for backward compatability with deprecation message.
- Remove unnecessary mobile_base.launch.xml layer mobile_base.launch.xml currently is just a pass-through to include the TURTLEBOT_BASE-specific launch file. Simply removed this unnecessary layer.
- Contributors: Kevin C. Wells
2.3.13 (2016-11-01)
- Add support for Intel R200 camera Added necessary launch, urdf, etc. files to add support for the R200 camera in Turtlebot. Updated r200 URDF to inclue proper mounting. Added runtime dependency on realsense_camera package.
- [bringup] remove outdated broken comment
- Contributors: Daniel Stonier, Kevin C. Wells
2.3.12 (2016-06-27)
- update xacro usage for jade deprecations comment out unused arguments generating errors
- add support for Orbbec Astra
- add the teleop switch script as a default input to support joystick interactive follower
- use rocon_apps/make_a_map for make a map interaction closes #210
- Fix icon for interactions.
- Contributors: Jihoon Lee, Tully Foote, commaster90
2.3.11 (2015-04-15)
- interaction fix closes #208
- Contributors: Jihoon Lee
2.3.10 (2015-04-02)
- update interaction name regarding android pairing as change of android apps name
- Contributors: dwlee
2.3.9 (2015-03-30)
- add chirp in android pairing closes #205
- Contributors: Jihoon Lee
2.3.8 (2015-03-23)
- update compatibility for upgrade turtlebot android apps
- Merge pull request #201 from dwlee/indigo_teleop Update interaction
- [turtlebot_bringup] fix conflicts in the turtlebot base launchers
- [turtlebot_bringup] doc strings for roslaunch args.
- update android teleop remapping rule and add kitkat in compatibility
- add rapp preferred configuration
- expose the interactions list in a way that conforms to the rest of the turtlebot environment settings.
- doc'ified some url args.
- bugfixes incorrect concert_whitelist arg default, fixes #199.
- Merge branch 'indigo' of https://github.com/turtlebot/turtlebot into indigo
- visualisation interactions
- add ps3 joystick interactions closes #196
- Contributors: Daniel Stonier, Jihoon Lee, dwlee
2.3.7 (2015-03-02)
- switch openni driver to openni2 for asus xtion pro
- Contributors: Jihoon Lee
2.3.6 (2015-02-27)
- Merge pull request #194 from turtlebot/asus_center Configurable 3d sensor
- update urdf. now new position uses asus_xtion_pro. Old position is asus_xtion_pro_offset
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Launch files
- launch/3dsensor.launch
- Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
-
- camera [default: camera]
- publish_tf [default: false]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- scan_topic [default: scan]
- launch/concert_client.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
- capabilities [default: true] — start and register an underlying capability server
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: false] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
- concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
- local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
- concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
- firewall [default: false] — block people from flipping (registering topics) on this master.
- launch/minimal.launch
-
- base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
- battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
- stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
- 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
- simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
- serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
- robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
- robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
- rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
- rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
- rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
- rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
- rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
- robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
- rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
- robot_description [default: Kick-ass ROS turtle]
- capabilities [default: true] — start and register an underlying capability server
- capabilities_server_name [default: capability_server]
- capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
- capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
- capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
- capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
- interactions [default: true] — start an interactions manager
- interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
- zeroconf [default: true] — publish the master information on zeroconf
- zeroconf_port [default: 11311] — port number of the ros master
- launch/includes/3dsensor/astra.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/kinect.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: true]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/3dsensor/r200.launch.xml
-
- camera [default: camera]
- publish_tf [default: false]
- depth_registration [default: false]
- rgb_processing [default: true]
- ir_processing [default: true]
- depth_processing [default: true]
- depth_registered_processing [default: true]
- disparity_processing [default: true]
- disparity_registered_processing [default: true]
- scan_processing [default: true]
- num_worker_threads [default: 4]
- launch/includes/capabilities.launch.xml
- Launch capability server with default providers
-
- base
- 3d_sensor
- test_case [default: minimal]
- debug [default: false]
- launch/includes/create/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/description.launch.xml
- Robot description only (used in private and paired master).
-
- base
- stacks
- 3d_sensor
- urdf_file [default: $(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
- launch/includes/kobuki/bumper2pc.launch.xml
- Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
-
- launch/includes/kobuki/mobile_base.launch.xml
- Kobuki's implementation of turtlebot's mobile base.
-
- serialport
- manager
- launch/includes/kobuki/safety_controller.launch.xml
- launch/includes/mobile_base.launch.xml
- The mobile platform base. Selector for the base.
-
- base
- serialport
- launch/includes/netbook.launch.xml
- Netbook battery monitor
-
- battery
- launch/includes/robot.launch.xml
- Collection of robot-centric definitions and nodes for the turtlebot.
-
- base
- stacks
- 3d_sensor
- launch/includes/roomba/mobile_base.launch.xml
- Create's implementation of turtlebot's mobile base.
-
- serialport
- manager [default: none]
- launch/includes/zeroconf.launch.xml