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No version for distro crystal. Known supported distros are highlighted in the buttons above.
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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 melodic
Last Updated 2019-03-26
Dev Status MAINTAINED
Released UNRELEASED

Package Description

turtlebot_bringup provides roslaunch scripts for starting the TurtleBot base functionality.

Additional Links

Maintainers

  • Daniel Stonier

Authors

  • Tully Foote
README
No README found. See repository README.
CHANGELOG

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  • [bringup] remove outdated broken comment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)

  • 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
  • update env hook to to use centered asus
  • add 3dsensor aluncher
  • asus is now default
  • updates
  • Merge branch \'indigo\' into 3dsensor_config
  • separate launchers for kinect and asus
  • Contributors: Daniel Stonier, Jihoon Lee

2.3.5 (2015-01-12)

  • bringup depend on capabilities. capabilities should not depend on bringup #185
  • Contributors: Jihoon Lee

2.3.4 (2015-01-07)

  • remove turtlebot_capabilities from run_depend closes #185
  • Contributors: Jihoon Lee

2.3.3 (2015-01-05)

  • add kobuki_capabilities and turtlebot_capabilities as run_depend in turtlebot_bring fixes #184
  • Contributors: Jihoon Lee

2.3.2 (2014-12-30)

2.3.1 (2014-12-30)

  • use env for rapp parsing
  • use turtlebot as envinroment variable prefixes
  • install interactions directory closes #176
  • Contributors: Jihoon Lee

2.3.0 (2014-11-30)

  • removing unused args
  • move out turtlebot map file environment variable to turtlebot_navigation, refs #163.
  • fixing typo in concert_client.launch
  • add interaction icons to fix #162
  • migrate linux_hardware as linux_peripheral_interfaces repo
  • Revert \"Adding the rosbridge setting for using rosbridge on pairing mode\"
  • align the arg
  • add the rosbridge setting for using rosbridge on pairing mode
  • Change env-vars to not overwrite already set vars
  • concert version turtlebot
  • proper remappings and use video_teleop virtual rapp
  • Merge pull request #148 from turtlebot/irdevel Update to use environment hooks for turtlebot_bringup / Android pairing updates
  • Move robot name and type to environment variable as mentioned in #134
  • Fix compatibility uri\'s to filter out PC interactions on Android
  • Split Android and PC Pairing into seperate roles
  • Update to use env-hooks for Turtlebot
  • Initial Android fixes
  • Update to account for turtlebot_rapps/teleop change to implement rocon_apps/teleop
  • cleanup legacy install rule. and remove concert directory which is not valid anymore
  • Rolled android and qt make_a_map and map_nav into one
  • Remove unncessary launchers as app manager and capabilities are rolled into minimal now
  • Enable capabilities server for turtlebot on indigo
  • Fix mapping for Qt teleop
  • Bugfix changes - small
  • Added more interactions
  • Added interactions to Turtlebot on indigo, collapsed minimal_with_appmanager into just minimal
  • better acceleration defaults after experimental observations.
  • refactor turtlebot_core_apps -> turtlebot_rapps
  • Remap cmd_vel for the calibration script It needs to match the turtlebot node in order to monitor for changes
  • Load calibration on turtlebot bringup
  • add depth argument to configure scan_processing. With this configuration scan works for both depth_regratation false and true
  • add blacklist argument
  • compatible with new app manager
  • rapp exporting for new rocon_app_manager
  • patches to keep the consistency of arguments #114
  • Merge pull request #114 from mayrjohannes/hydro-devel Added serial port as parameter to launch files (Issue https://github.com/turtlebot/turtlebot/issues/111)
  • Fixing \"Error with diagnostics.yaml for roomba #110\"
  • updates capabilities-specific rosinstaller
  • adds turtlebot_capabilities package and related changes
  • Trivial comment spelling fix rhoomba -> roomba
  • turtlebot_bringup: adds capabilities (server + default provider configs)
  • adding name for rapp list
  • Added serial port as parameter to launch files modified: create/mobile_base.launch.xml modified: kobuki/mobile_base.launch.xml modified: mobile_base.launch.xml modified: roomba/mobile_base.launch.xml modified: ../minimal.launch Committer: mayrjohannes <joh.mayr@jku.at> Author: mayrjohannes <joh.mayr@jku.at>
  • Contributors: Daniel Stonier, DongWook Lee, Jihoon Lee, Kenneth Bogert, Luka

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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/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/includes/capabilities.launch.xml
    • Launch capability server with default providers
      • base
      • 3d_sensor
      • test_case [default: minimal]
      • debug [default: false]
  • launch/includes/kobuki/safety_controller.launch.xml
  • launch/includes/kobuki/mobile_base.launch.xml
    • Kobuki's implementation of turtlebot's mobile base.
      • serialport
      • manager
  • 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/zeroconf.launch.xml
  • launch/includes/roomba/mobile_base.launch.xml
    • Create's implementation of turtlebot's mobile base.
      • serialport
      • manager [default: none]
  • launch/includes/mobile_base.launch.xml
    • The mobile platform base. Selector for the base.
      • base
      • serialport
  • 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: $(find xacro)/xacro '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
  • 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/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/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/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/robot.launch.xml
    • Collection of robot-centric definitions and nodes for the turtlebot.
      • base
      • stacks
      • 3d_sensor
  • launch/includes/netbook.launch.xml
    • Netbook battery monitor
      • battery

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged turtlebot_bringup at answers.ros.org

No version for distro lunar. Known supported distros are highlighted in the buttons above.

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 MAINTAINED
Released RELEASED

Package Description

turtlebot_bringup provides roslaunch scripts for starting the TurtleBot base functionality.

Additional Links

Maintainers

  • Daniel Stonier

Authors

  • Tully Foote
README
No README found. See repository README.
CHANGELOG

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)

  • 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
  • update env hook to to use centered asus
  • add 3dsensor aluncher
  • asus is now default
  • updates
  • Merge branch \'indigo\' into 3dsensor_config
  • separate launchers for kinect and asus
  • Contributors: Daniel Stonier, Jihoon Lee

2.3.5 (2015-01-12)

  • bringup depend on capabilities. capabilities should not depend on bringup #185
  • Contributors: Jihoon Lee

2.3.4 (2015-01-07)

  • remove turtlebot_capabilities from run_depend closes #185
  • Contributors: Jihoon Lee

2.3.3 (2015-01-05)

  • add kobuki_capabilities and turtlebot_capabilities as run_depend in turtlebot_bring fixes #184
  • Contributors: Jihoon Lee

2.3.2 (2014-12-30)

2.3.1 (2014-12-30)

  • use env for rapp parsing
  • use turtlebot as envinroment variable prefixes
  • install interactions directory closes #176
  • Contributors: Jihoon Lee

2.3.0 (2014-11-30)

  • removing unused args
  • move out turtlebot map file environment variable to turtlebot_navigation, refs #163.
  • fixing typo in concert_client.launch
  • add interaction icons to fix #162
  • migrate linux_hardware as linux_peripheral_interfaces repo
  • Revert \"Adding the rosbridge setting for using rosbridge on pairing mode\"
  • align the arg
  • add the rosbridge setting for using rosbridge on pairing mode
  • Change env-vars to not overwrite already set vars
  • concert version turtlebot
  • proper remappings and use video_teleop virtual rapp
  • Merge pull request #148 from turtlebot/irdevel Update to use environment hooks for turtlebot_bringup / Android pairing updates
  • Move robot name and type to environment variable as mentioned in #134
  • Fix compatibility uri\'s to filter out PC interactions on Android
  • Split Android and PC Pairing into seperate roles
  • Update to use env-hooks for Turtlebot
  • Initial Android fixes
  • Update to account for turtlebot_rapps/teleop change to implement rocon_apps/teleop
  • cleanup legacy install rule. and remove concert directory which is not valid anymore
  • Rolled android and qt make_a_map and map_nav into one
  • Remove unncessary launchers as app manager and capabilities are rolled into minimal now
  • Enable capabilities server for turtlebot on indigo
  • Fix mapping for Qt teleop
  • Bugfix changes - small
  • Added more interactions
  • Added interactions to Turtlebot on indigo, collapsed minimal_with_appmanager into just minimal
  • better acceleration defaults after experimental observations.
  • refactor turtlebot_core_apps -> turtlebot_rapps
  • Remap cmd_vel for the calibration script It needs to match the turtlebot node in order to monitor for changes
  • Load calibration on turtlebot bringup
  • add depth argument to configure scan_processing. With this configuration scan works for both depth_regratation false and true
  • add blacklist argument
  • compatible with new app manager
  • rapp exporting for new rocon_app_manager
  • patches to keep the consistency of arguments #114
  • Merge pull request #114 from mayrjohannes/hydro-devel Added serial port as parameter to launch files (Issue https://github.com/turtlebot/turtlebot/issues/111)
  • Fixing \"Error with diagnostics.yaml for roomba #110\"
  • updates capabilities-specific rosinstaller
  • adds turtlebot_capabilities package and related changes
  • Trivial comment spelling fix rhoomba -> roomba
  • turtlebot_bringup: adds capabilities (server + default provider configs)
  • adding name for rapp list
  • Added serial port as parameter to launch files modified: create/mobile_base.launch.xml modified: kobuki/mobile_base.launch.xml modified: mobile_base.launch.xml modified: roomba/mobile_base.launch.xml modified: ../minimal.launch Committer: mayrjohannes <joh.mayr@jku.at> Author: mayrjohannes <joh.mayr@jku.at>
  • Contributors: Daniel Stonier, DongWook Lee, Jihoon Lee, Kenneth Bogert, Luka

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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/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/includes/capabilities.launch.xml
    • Launch capability server with default providers
      • base
      • 3d_sensor
      • test_case [default: minimal]
      • debug [default: false]
  • launch/includes/kobuki/safety_controller.launch.xml
  • launch/includes/kobuki/mobile_base.launch.xml
    • Kobuki's implementation of turtlebot's mobile base.
      • serialport
      • manager
  • 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/zeroconf.launch.xml
  • launch/includes/roomba/mobile_base.launch.xml
    • Create's implementation of turtlebot's mobile base.
      • serialport
      • manager [default: none]
  • launch/includes/mobile_base.launch.xml
    • The mobile platform base. Selector for the base.
      • base
      • serialport
  • 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/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/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/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/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/robot.launch.xml
    • Collection of robot-centric definitions and nodes for the turtlebot.
      • base
      • stacks
      • 3d_sensor
  • launch/includes/netbook.launch.xml
    • Netbook battery monitor
      • battery

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged turtlebot_bringup at answers.ros.org

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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 MAINTAINED
Released RELEASED

Package Description

turtlebot_bringup provides roslaunch scripts for starting the TurtleBot base functionality.

Additional Links

Maintainers

  • Daniel Stonier

Authors

  • Tully Foote
README
No README found. See repository README.
CHANGELOG

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
  • update env hook to to use centered asus
  • add 3dsensor aluncher
  • asus is now default
  • updates
  • Merge branch \'indigo\' into 3dsensor_config
  • separate launchers for kinect and asus
  • Contributors: Daniel Stonier, Jihoon Lee

2.3.5 (2015-01-12)

  • bringup depend on capabilities. capabilities should not depend on bringup #185
  • Contributors: Jihoon Lee

2.3.4 (2015-01-07)

  • remove turtlebot_capabilities from run_depend closes #185
  • Contributors: Jihoon Lee

2.3.3 (2015-01-05)

  • add kobuki_capabilities and turtlebot_capabilities as run_depend in turtlebot_bring fixes #184
  • Contributors: Jihoon Lee

2.3.2 (2014-12-30)

2.3.1 (2014-12-30)

  • use env for rapp parsing
  • use turtlebot as envinroment variable prefixes
  • install interactions directory closes #176
  • Contributors: Jihoon Lee

2.3.0 (2014-11-30)

  • removing unused args
  • move out turtlebot map file environment variable to turtlebot_navigation, refs #163.
  • fixing typo in concert_client.launch
  • add interaction icons to fix #162
  • migrate linux_hardware as linux_peripheral_interfaces repo
  • Revert \"Adding the rosbridge setting for using rosbridge on pairing mode\"
  • align the arg
  • add the rosbridge setting for using rosbridge on pairing mode
  • Change env-vars to not overwrite already set vars
  • concert version turtlebot
  • proper remappings and use video_teleop virtual rapp
  • Merge pull request #148 from turtlebot/irdevel Update to use environment hooks for turtlebot_bringup / Android pairing updates
  • Move robot name and type to environment variable as mentioned in #134
  • Fix compatibility uri\'s to filter out PC interactions on Android
  • Split Android and PC Pairing into seperate roles
  • Update to use env-hooks for Turtlebot
  • Initial Android fixes
  • Update to account for turtlebot_rapps/teleop change to implement rocon_apps/teleop
  • cleanup legacy install rule. and remove concert directory which is not valid anymore
  • Rolled android and qt make_a_map and map_nav into one
  • Remove unncessary launchers as app manager and capabilities are rolled into minimal now
  • Enable capabilities server for turtlebot on indigo
  • Fix mapping for Qt teleop
  • Bugfix changes - small
  • Added more interactions
  • Added interactions to Turtlebot on indigo, collapsed minimal_with_appmanager into just minimal
  • better acceleration defaults after experimental observations.
  • refactor turtlebot_core_apps -> turtlebot_rapps
  • Remap cmd_vel for the calibration script It needs to match the turtlebot node in order to monitor for changes
  • Load calibration on turtlebot bringup
  • add depth argument to configure scan_processing. With this configuration scan works for both depth_regratation false and true
  • add blacklist argument
  • compatible with new app manager
  • rapp exporting for new rocon_app_manager
  • patches to keep the consistency of arguments #114
  • Merge pull request #114 from mayrjohannes/hydro-devel Added serial port as parameter to launch files (Issue https://github.com/turtlebot/turtlebot/issues/111)
  • Fixing \"Error with diagnostics.yaml for roomba #110\"
  • updates capabilities-specific rosinstaller
  • adds turtlebot_capabilities package and related changes
  • Trivial comment spelling fix rhoomba -> roomba
  • turtlebot_bringup: adds capabilities (server + default provider configs)
  • adding name for rapp list
  • Added serial port as parameter to launch files modified: create/mobile_base.launch.xml modified: kobuki/mobile_base.launch.xml modified: mobile_base.launch.xml modified: roomba/mobile_base.launch.xml modified: ../minimal.launch Committer: mayrjohannes <joh.mayr@jku.at> Author: mayrjohannes <joh.mayr@jku.at>
  • Contributors: Daniel Stonier, DongWook Lee, Jihoon Lee, Kenneth Bogert, Luka

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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/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/includes/capabilities.launch.xml
    • Launch capability server with default providers
      • base
      • 3d_sensor
      • test_case [default: minimal]
      • debug [default: false]
  • launch/includes/kobuki/safety_controller.launch.xml
  • launch/includes/kobuki/mobile_base.launch.xml
    • Kobuki's implementation of turtlebot's mobile base.
      • serialport
      • manager
  • 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/zeroconf.launch.xml
  • launch/includes/roomba/mobile_base.launch.xml
    • Create's implementation of turtlebot's mobile base.
      • serialport
      • manager [default: none]
  • launch/includes/mobile_base.launch.xml
    • The mobile platform base. Selector for the base.
      • base
      • serialport
  • 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/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/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/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/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/robot.launch.xml
    • Collection of robot-centric definitions and nodes for the turtlebot.
      • base
      • stacks
      • 3d_sensor
  • launch/includes/netbook.launch.xml
    • Netbook battery monitor
      • battery

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged turtlebot_bringup at answers.ros.org

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 MAINTAINED
Released RELEASED

Package Description

turtlebot_bringup provides roslaunch scripts for starting the TurtleBot base functionality.

Additional Links

Maintainers

  • Daniel Stonier

Authors

  • Tully Foote
README
No README found. See repository README.
CHANGELOG

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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • 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/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/paired_public.launch
      • base [default: $(optenv TURTLEBOT_BASE kobuki)]
      • stacks [default: $(optenv TURTLEBOT_STACKS hexagons)]
      • 3d_sensor [default: $(optenv TURTLEBOT_3D_SENSOR kinect)]
  • 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/includes/kobuki/safety_controller.launch.xml
  • launch/includes/kobuki/mobile_base.launch.xml
    • Kobuki's implementation of turtlebot's mobile base.
  • 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/zeroconf.launch.xml
  • 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/mobile_base.launch.xml
    • The mobile platform base. Selector for the base.
      • base
  • 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/robot.launch.xml
    • Collection of robot-centric definitions and nodes for the turtlebot.
      • base
      • stacks
      • 3d_sensor
  • launch/includes/netbook.launch.xml
    • Netbook battery monitor
      • battery

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged turtlebot_bringup at answers.ros.org