PART ONE: RUN THE CODE

Show how to run the code.

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update 20200731

• robot_description_deprecated/
• robot_gz_deprecated/
• tb_description_deprecated

These 3 packages are deprecated. Keep them for reference.

Dependency

ROS and Gazebo

• ROS-melodic (Choose your )
• Gazebo-9.0

Remember to match ROS and Gazebo distribution. Details here

Other ROS packages

• ros-melodic-turtlebot3
• ros-melodic-robot-state-publisher
• ros-melodic-joint-state-publisher-gui

RUN

# Open a terminal
./build.sh
source devel_isolated/setup.bash
roslaunch robot_gz show_in_gazebo.launch
# Open a new terminal
source devel_isolated/setup.bash
roslaunch robot_gz show_in_rviz.launch
# Open a new terminal to control the robot
# Package Turtlebot3 need a enviromental variable in their launch file
export TURTLEBOT3_MODEL="burger"
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Or you want to use turtlebot1's way to control the robot.

Source code here: link , build it as a ROS package.

source <Path2SetupBash>/setup.bash
roslaunch turtlebot_teleop keyboard_teleop.launch

Personally, I prefer turtlebot_teleop .

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PART TWO: Robot Simulation

Use gazebo_ros to do this simulation for washing-floor robot

Here documents how to finishe this simulation in several steps.

01. Geometry Model

Read URDF in Gazebo

Learn how to add <gazebo> element in .xacro .

02. Gazebo_ros Plugin

I learn how to use gazebo_ros plugin from an example of several Turtlebot3 ros package below:

• turtlebot3
• turtlebot3_applications
• turtlebot3_simulations
• turtlebot3_msgs

Clone them in the same directory and catkin_make to build the code

Alternatively, you can install them in ROS by apt-get install

Do not forget to install ros-melodic-

# view the turtlebot3 in gazebo
roslaunch turtlebot3_gazebo turtlebot3_world.launch

# view the turtlebot3 in rviz
roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch

# use teleop to control the turtlebot
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Read the source code of these packages

It shows how to use libgazebo_ros_diff_drive.so to implement the differential speed control.

Also, it provides the examples of libgazebo_ros_imu.so and libgazebo_ros_laser.so

03. Simplify by Macro

.xacro is much powerful than .urdf for its macros.

Use macros can simplify model written in .urdf or .xacro .

Tutorial for all. Click here

04. Use config

config --> part.xacro -->whole.xacro

05. Refine the model

Hard to control right now

Need to learn how to modify the physics param.

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update 20200731

Hard to find a precise way to control my own robot due to the mass center does not locate on the wheel axis. So we change the visual of turtlebot_burger to make the control easier.