This repository contains the code and supporting files to run TurtleBot 2 demos using ROS 2. Due to reliance on existing Linux-only code and dependencies, these demos are intended for use only on Linux (that could change in the future).

This demo assumes that you have an Orbbec Astra depth camera. Extra work would be required to use the Kinect or Asus Xtion Pro. Without an Astra, you can still do joystick teleop. For instructions on how to setup your turtlebot please see Setup your turtlebot2

Installation

Installation from binaries

First, install ROS2 from binaries following these instructions

Then install the turtlebo2 demo specific packages:

sudo apt install ros-r2b2-turtlebot2* ros-kinetic-kobuki-ftdi

Installation from source

This assumes that you have ROS Kinetic installed (or at lease have the ros apt repository in your sources)

First, install ROS2 from source following these instructions

Then get the turtlebo2 demos specific code:

cd <YOUR_ROS2_WORKSPACE>
wget https://raw.githubusercontent.com/ros2/turtlebot2_demo/release-latest/turtlebot2_demo.repos
vcs import src < turtlebot2_demo.repos

Install some dependencies:

sudo apt-get install --no-install-recommends -y libboost-iostreams-dev libboost-regex-dev libboost-system-dev libboost-thread-dev libceres-dev libgoogle-glog-dev liblua5.2-dev libpcl-dev libprotobuf-dev libsdl1.2-dev libsdl-image1.2-dev libsuitesparse-dev libudev-dev libusb-1.0.0-dev libyaml-cpp-dev protobuf-compiler python-sphinx ros-kinetic-kobuki-driver ros-kinetic-kobuki-ftdi

Reason for each dependency:

• ros-kinetic-kobuki-driver : our ROS 2 kobuki driver builds on top of this package (and its dependencies)
• ros-kinetic-kobuki-ftdi : we use a udev rule from this package
• ros-kinetic-common-msgs : to support use of the ros1_bridge, we need the ROS 1 messages available (TODO: document use of the bridge to view depth images and other stuff)
• ros-kinetic-astra-camera : we’re compiling our own ROS 2 fork of this package, so we don’t actually need the ROS 1 version; we’re installing it as a convenient way to ensure that all of its dependencies are installed

Build the ros2 code

For resource constrained platforms we will split the build into 2 steps to make sure not to overflow the memory

src/ament/ament_tools/scripts/ament.py build --isolated --symlink-install --parallel --skip-packages cartographer cartographer_ros ros1_bridge turtlebot2_amcl turtlebot2_drivers turtlebot2_follower turtlebot2_cartographer turtlebot2_teleop

Now the resource intensive packages and the ones depending on ROS1 packages:

source /opt/ros/kinetic/setup.bash
src/ament/ament_tools/scripts/ament.py build --isolated --symlink-install --parallel --only cartographer cartographer_ros turtlebot2_amcl turtlebot2_cartographer turtlebot2_drivers turtlebot2_follower turtlebot2_teleop --make-flags -j2 -l2

Go grab a coffee (or a meal if you compile on ARM)

Configure a couple of things

Setup the udev rules

Copy the astra udev rules

If you installed from binaries

If you installed from binary you’ll need to download the udev rule by hand:

wget https://raw.githubusercontent.com/ros2/ros_astra_camera/ros2/56-orbbec-usb.rules

If you installed from source

cd ~/ros2_ws/src/ros_astra_camera

Copy the rules file

sudo cp 56-orbbec-usb.rules /etc/udev/rules.d

Copy the kobuki udev rule

sudo cp `rospack find kobuki_ftdi`/57-kobuki.rules /etc/udev/rules.d

Restart the udev service

sudo service udev reload
sudo service udev restart

Source your workspace

If installed from Debian packages

source /opt/ros/kinetic/setup.bash
source /opt/ros/r2b2/setup.bash

If installed from source

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