This is the main software repository for the turtlebot3 simulation.
- For extensive technical documentation, please refer to aprilTag
You should git pull everytime before you push a new commit!
pass: ubuntu 16.04.2 ROS version: kinetic Gazebo 8 git clone https://github.com/YuehChuan/tb3_aprilTag.git
To compile the code,
cd ~/tb3_aprilTag
catkin_make
cd ..
source environment.sh
For aprilTag, make sure you have comiled shared library follow these steps:
cd tb3_aprilTag/software/apriltags-cpp
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make
sudo make install
more details for aprilTag https://github.com/xenobot-dev/apriltags_ros
my camera: PS3eye_webcam aprilTag size 165mm
open 3 terminal
terminal 1
cd ~/tb3_aprilTag/
source environment.sh
rostopic echo /apriltags/detections
roslaunch apriltags usb_cam_apriltags.launch
rosrun tags_sub tags_sub
terminal 2
cd ~/tb3_aprilTag/
source environment.sh
rosrun tags_sub tags_sub
rostopic echo /apriltags/detections is the detection array
rqt_multiplot_plugin is develop by ETH zurich ASL, it is an usefultool to visualize rostopic. Espectially, 2D plot. (x-t, y-t, theta-t, x-y)
more details and tutorial: https://github.com/ethz-asl/rqt_multiplot_plugin
sudo apt-get update
sudo apt-get install ros-kinetic-rqt-multiplot
Run turtlebo3 gazebo simulation, and rviz to see topics. Use rqt_multiplot_plugin to see topic like x,y position.
for turtlebot3 simultion details, see here: https://turtlebot3.readthedocs.io/en/latest/simulation.html
open 4 terminal
do 4 command strongly use byobu or terminator for your convinience.
roslaunch turtlebot3_gazebo turtlebot3_world.launch
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch
rosrun rqt_multiplot rqt_multiplot
open rqt_multiplot_plugin preconfig file: ~/tb3_aprilTag/catkin_ws/src/tb3_multiplot.xml
terminal 1
cd ~/tb3_aprilTag/
source environment.sh
roslaunch turtlebot3_gazebo turtlebot3_world.launch
terminal 2
cd ~/tb3_aprilTag
source environment.sh
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
terminal 3
cd ~/tb3_aprilTag
source environment.sh
roslaunch turtlebot3_gazebo turtlebot3_world.launch
terminal 4
cd ~/tb3_aprilTag
source environment.sh
rosrun rqt_multiplot rqt_multiplot
Launch gazebo world then insert aprilTag models(tag0, Tag1, Tag2, Tag3) launch aprilTag detect node
terminal 1
cd ~/tb3_aprilTag/
source environment.sh
roslaunch turtlebot3_gazebo turtlebot3_world.launch
Launch gazebo world
terminal 2
cd ~/tb3_aprilTag/
source environment.sh
roslaunch apriltags gazebo_cam_apriltags.launch
see virtual aprilTag detection
terminal 3
cd ~/tb3_aprilTag/
source environment.sh
rostopic echo /apriltags/detections
please leave issue in issue if you got problem build these.
Have fun!
also, Contribution welcome!
add noise for aprilTag in gazebo even white noise or render the object by raytracing.
The workflow is as follows.
(1) You make a private branch, say your name-devel.
(2) You work on your branch.
(3) You push often to your branch.
(4) Create a “pull request”. You can do this by going to the Github page for your branch and click on the button “compare and pull request” .