tb3_tools

Some extended packages for monitoring and controlling turtlebot3 robot.

Introduction

tb3tools is a set of packages to help you better monitor and control your turtlebot3 robot. It includes two packages: _tb3_safe_teleop and tb3_monitor.

• The tb3_safe_teleop package provides commands for safe teleoperation with different input devices. It use LaserScan infomation to estimated the distance between the robot and obstacles, and stop the robot’s movement within a customized safe distance.
• The tb3_monitor package provides commands to monitor nodes and robot’s states in real time.

Install

# clone
cd /path/to/your/catkin_ws/src
git clone https://github.com/xuyuan-ict/tb3_tools.git

# build
cd /path/to/your/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE=Release  # Release build is recommended
source devel/setup.bash

Quick Starts

1. tb3_safe_teleop

    tb3-safe-teleop key [tb3_model] [safe_distance]
    

Parameter Descriptions

• key : in current version, we only implement safe teleoperation with keyboard device. Other input devices (e.g. ps3 joystick and xbox360 joystick) will be implemented in the near future.
• tb3_model : the turtlebo3 model type [burger, waffle, waffle_pi]
• safe_distance : the safe distance between the robot and obstacles

1. tb3_monitor

    tb3-monitor node [all|node_name]
    tb3-monitor state [all|state_name]
    

Parameter Descriptions

• node all : list all active nodes with subscribed and published topics per seconds
• node node_name : list specific active node with subscribed and published topics per seconds
• state all : list all robot’s states with subscribed and published topics per seconds
• state state_name : list specific robot’s state (e.g. odometry, goal, velocity) with subscribed and published topics per seconds