turtlebot2_ros2

This project contains a minimal example for setting up ROS 2 Humble on the Kobuki TurtleBot 2 platform. Teleoperation using the keyboard and a joystick controller is demonstrated. For a comprehensive guide, see idorobotics.com.

Setup

To setup the TurtleBot 2 mobile robot base:

• Update udev rules

wget https://raw.githubusercontent.com/kobuki-base/kobuki_ftdi/devel/60-kobuki.rules
sudo cp 60-kobuki.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

• Install the velocity smoother: sudo apt-get install ros-humble-kobuki-velocity-smoother
• In a ROS 2 workspace, clone this repository (which adds the kobuki_core, kobuki_ros, kobuki_ros_interfaces, cmd_vel_mux, ecl_core and ecl_lite packages): git clone https://github.com/uf-reef-avl/turtlebot2_ros2.git
• Change directory into the repository you just cloned and update the submodules

cd turtlebot2_ros2
git submodule update --init --recursive

• Install any missing dependencies: rosdep install -i --from-path src --rosdistro humble -y
• Build the workspace colcon build --symlink-install --executor sequential --cmake-args -Wno-dev
• Check version information and run the kobuki-simple-keyop test noted in the official guide.

Testing

To test this setup, run remote teleoperation to control (drive around) the robot from a workstation (laptop) computer following the steps below:

• Install the teleop packages: sudo apt-get install ros-humble-teleop-twist-keyboard ros-humble-joy-teleop ros-humble-teleop-twist-joy

• Open an ssh connection to the robot then start the robot: ros2 launch kobuki_node kobuki_node-launch.py

• Run keyboard teleoperation (to drive the robot using a keyboard): ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=commands/velocity

• Alternatively, run joystick teleoperation (to drive the robot using a joystick): ros2 launch teleop_twist_joy teleop-launch.py config_filepath:='/path/to/ros2_ws/src/configs/pdp.config.yaml' joy_vel:='commands/velocity'

  If you're using a different joystick like PS3 then run: ros2 launch teleop_twist_joy teleop-launch.py joy_config:='ps3' joy_vel:='commands/velocity'

The Kobuki TurtleBot 2 is now fully migrated to ROS 2 and is ready for more complex navigation tasks.