index.rst

turtlebot_samples

Table of Contents

• Introduction
  • Why not included in turtlebot_apps suite?
• Prerequisite
• Install
  • Install from binary
  • Install from source
• Operation
  • Running frontier_exploration sample
• APIs
  • ROS API
    • Published Topics
    • Services
    • Parameters
• Support

Introduction

Collection of miscellaneous samples of Turtlebot.

Why not included in turtlebot_apps suite?

See Discussion.

Prerequisite

• (Only tested on) Ubuntu 14.04 64bit.
• ROS Indigo needs to be installed.

Install

As of June 2016 this package is available only as source (ie. not binary/apt-gettable form) yet.

Install from binary

(TBD)

Install from source

1. Obtain turtlebot_samples package at github and build.

$ cd %YOUR_CATKING_WORKSPACE%/src
$ git clone https://github.com/130s/turtlebot_samples.git
$ cd %YOUR_CATKING_WORKSPACE%
$ catkin_make   (or your favorite build tool e.g. `catkin_tools <https://catkin-tools.readthedocs.io/en/latest/index.html>`_)
$ source devel/setup.bash

Operation

Running frontier_exploration sample

frontier_exploration provides ROS interface for the users to let the robot explore a region you want it to while it's making a map. In a sample available in turtlebot_samples you can try the feature of frontier_exploration with Turtlebot on Gazebo simulator.

Simply running the following launch will start all necessary nodes.

$ roslaunch turtlebot_samples exploration_gazebo.launch

APIs

ROS API

Published Topics

N/A yet

Services

N/A yet

Parameters

N/A yet

Support

• Questions should be asked on ROS answer forum.
• Pull request is always welcomed :) at github.