TurtleBot_Walker

Implementation of a simple walker algorithm on TurtleBot.

Overview

ROS package containing a node to make a Turtlebot walk forward and turning when an obstacle is detected.

Dependencies

ROS

ROS should be installed on the system. This package is tested on Ubuntu 16.04 LTS with ROS Kinetic Distribution.
Installation Instructions can be found here.

catkin

catkin is a Low-level build system macros and infrastructure for ROS.
catkin is included by default when ROS is installed. It can also be installed with apt-get

sudo apt-get install ros-kinetic-catkin

Package Dependency

• roscpp
• rospy
• sensor_msgs
• geometry_msgs
• turtlebot_gazebo

Build Instructions

Creating a catkin workspace

Create a catkin workspace using following instructions:

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make

Running catkin_make command the first time in your workspace will create a CMakeLists.txt link in your 'src' folder. Before continuing source your new setup.*sh file:

$ source devel/setup.bash

Building the Package inside catkin workspace

Clone the package in src folder of catkin workspace using following commands:

$ cd ~/catkin_ws/src/
$ git clone https://github.com/VBot2410/TurtleBot_Walker.git

Then build the package using following commands:

$ cd ~/catkin_ws/
$ catkin_make

Running The Demo

Open a terminal and run following commands:

$ cd ~/catkin_ws
$ source devel/setup.bash
$ roslaunch turtlebot_walker demo.launch

Recording Bag files and how to Enable/Disable Recording:

Running the above command sets the record argument in launch file to false by default. To enable rebag recording, simply add record:=true to the launch command.
The new commands will be:

$ cd ~/catkin_ws
$ source devel/setup.bash
roslaunch turtlebot_walker demo.launch record:=true

This will generate a file named rosbag_recording.bag in results subdirectory.
To disable the recording, use the default argument or specify record:=false.

Inspecting the bag file

For inspecting the recorded rosbag file, run following commands:

$ cd ~/catkin_ws/src/TurtleBot_Walker/results
$ rosbag info rosbag_recording.bag

This will produce an output similar to following:

path:        rosbag_recording.bag
version:     2.0
duration:    1:08s (68s)
start:       Dec 31 1969 19:00:00.46 (0.46)
end:         Dec 31 1969 19:01:09.39 (69.39)
size:        26.2 MB
messages:    51940
compression: none [34/34 chunks]
types:       bond/Status                           [eacc84bf5d65b6777d4c50f463dfb9c8]
             dynamic_reconfigure/Config            [958f16a05573709014982821e6822580]
             dynamic_reconfigure/ConfigDescription [757ce9d44ba8ddd801bb30bc456f946f]
             gazebo_msgs/LinkStates                [48c080191eb15c41858319b4d8a609c2]
             gazebo_msgs/ModelStates               [48c080191eb15c41858319b4d8a609c2]
             geometry_msgs/Twist                   [9f195f881246fdfa2798d1d3eebca84a]
             kobuki_msgs/BumperEvent               [ffe360cd50f14f9251d9844083e72ac5]
             nav_msgs/Odometry                     [cd5e73d190d741a2f92e81eda573aca7]
             rosgraph_msgs/Clock                   [a9c97c1d230cfc112e270351a944ee47]
             rosgraph_msgs/Log                     [acffd30cd6b6de30f120938c17c593fb]
             sensor_msgs/Imu                       [6a62c6daae103f4ff57a132d6f95cec2]
             sensor_msgs/JointState                [3066dcd76a6cfaef579bd0f34173e9fd]
             sensor_msgs/LaserScan                 [90c7ef2dc6895d81024acba2ac42f369]
             std_msgs/String                       [992ce8a1687cec8c8bd883ec73ca41d1]
             tf2_msgs/TFMessage                    [94810edda583a504dfda3829e70d7eec]
topics:      /clock                                            6916 msgs    : rosgraph_msgs/Clock                  
             /cmd_vel_mux/active                                  1 msg     : std_msgs/String                      
             /cmd_vel_mux/parameter_descriptions                  1 msg     : dynamic_reconfigure/ConfigDescription
             /cmd_vel_mux/parameter_updates                       1 msg     : dynamic_reconfigure/Config           
             /depthimage_to_laserscan/parameter_descriptions      1 msg     : dynamic_reconfigure/ConfigDescription
             /depthimage_to_laserscan/parameter_updates           1 msg     : dynamic_reconfigure/Config           
             /gazebo/link_states                               6927 msgs    : gazebo_msgs/LinkStates               
             /gazebo/model_states                              6929 msgs    : gazebo_msgs/ModelStates              
             /gazebo/parameter_descriptions                       1 msg     : dynamic_reconfigure/ConfigDescription
             /gazebo/parameter_updates                            1 msg     : dynamic_reconfigure/Config           
             /joint_states                                     6832 msgs    : sensor_msgs/JointState               
             /laserscan_nodelet_manager/bond                    194 msgs    : bond/Status                           (2 connections)
             /mobile_base/commands/velocity                     138 msgs    : geometry_msgs/Twist                  
             /mobile_base/events/bumper                          12 msgs    : kobuki_msgs/BumperEvent              
             /mobile_base/sensors/imu_data                     6791 msgs    : sensor_msgs/Imu                      
             /mobile_base_nodelet_manager/bond                  387 msgs    : bond/Status                           (3 connections)
             /odom                                             6803 msgs    : nav_msgs/Odometry                    
             /rosout                                            551 msgs    : rosgraph_msgs/Log                     (8 connections)
             /rosout_agg                                        533 msgs    : rosgraph_msgs/Log                    
             /scan                                              381 msgs    : sensor_msgs/LaserScan                
             /tf                                               8538 msgs    : tf2_msgs/TFMessage                    (2 connections)
             /tf_static                                           1 msg     : tf2_msgs/TFMessage

Playing Back the bag file

To play the recorded bag file, use following instructions: In a terminal, type following command:

$ roscore

Open a new terminal and run following commands:

$ cd ~/catkin_ws/src/TurtleBot_Walker/results
$ rosbag play rosbag_recording.bag

Open a new terminal and run following command:

rqt_console

This will open a rqt_console which will play all the messages recorded in the bag file while recording.