TurtleBot教程

TurtleBot

TurtleBot combines popular off-the-shelf robot components like the iRobot Create, Yujin Robot's Kobuki, Microsoft's Kinect and Asus' Xtion Pro into an integrated development platform for ROS applications. For more information about hardware, please see http://turtlebot.com.

TurtleBot结合了流行的现成的机器人组件，像iRobot Create（底盘），Yujin Robot的Kobuki，微软的Kinect（感应器）和Asus的Xtion Pro（体感设备），从而组成了一个ROS应用开发平台。对于关于硬件的更多信息，请看：http://turtlebot.com。

BDFLs（Benevolent Dictator for Life）: Tully Foote (OSRF), Melonee Wise (Fetch Robotics)

ROS SW Maintainers: Michael Ferguson (Fetch Robotics), Tully Foote (OSRF), JihoonLee (Yujin Robot), Daniel Stonier (Yujin Robot)

Recently overhauled entire tutorial for indigo (24/03/15).最近大修完全教程为indigo（24/03/15）。

1. 概况

Migration - what's new and shiny in your indigo turtlebot software!

迁移：在你的indigo turtlebot软件中什么是新的和闪亮的？：http://wiki.ros.org/Robots/TurtleBot/indigo/Migration

2. 关于

1. Turtlebot-Developer Habitats TurtleBot开发者园地

   Various
   usage scenarios for turtlebots and their
   developers.对于turtlebot和它的开发者多样的用途全景：http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot-Developer%20Habitats

2. Interacting with your Turtlebot 和你的Turtlebot交互

   The
   many ways you can provoke/inspire your turtlebot to action!
   你可以使用多种方法来激起/激发你的turtlebot运动起来！：http://wiki.ros.org/turtlebot/Tutorials/indigo/Interacting%20with%20your%20Turtlebot

3.准备

1. Turtlebot Installation Turtlebot安装

   Installing software onto the turtlebot.向turtlebot上安装软件。：http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation

2. PC Installation PC安装

   Installing the software for your monitoring workstation pc.为监控站PC安装软件 ：http://wiki.ros.org/turtlebot/Tutorials/indigo/PC%20Installation

3. Network Configuration 网络设置

   Get turtlebot and your pc chatting to each other.使turtlebot和你的PC相互交流 ：http://wiki.ros.org/turtlebot/Tutorials/indigo/Network%20Configuration

4.开始

1. TurtleBot Bringup TurtleBot开始

   How to start the TurtleBot software.开始TurtleBot软件：http://wiki.ros.org/turtlebot_bringup/Tutorials/indigo/TurtleBot%20Bringup

2. PC Bringup PC开始

   Connecting to the turtlebot from the PC.从PC连接turtlebot：http://wiki.ros.org/turtlebot_bringup/Tutorials/indigo/PC%20Bringup

3. TurtleBot Care and Feeding TurtleBot维护和充电

   This tutorials explains how to charge and maintain your TurtleBot.该教程解释了如何为你的TurtleBot充电和维护。

4. Create Odometry and Gyro Calibration 创建测程和陀螺仪校正

   This is only necessary if you have a Create base. The Kobuki comes with a factory calibrated gyro. This will show you how to calibrate or test the calibration of a TurtleBot which is highly recommended when running any navigation based application.只有当你有一个Create基盘的话这是需要的。Koburi带有一个工厂校准的陀螺仪。这将向你展示如何校准或测试TurtleBot校准，这是非常建议的如果运行任何导航应用的话。

5.应用

1）四处看看

1. A First Interaction 第一个交互

   Run your first interaction with the turtlebot - chatter!运行你的第一个turtlebot交互——chatter!：http://wiki.ros.org/turtlebot/Tutorials/indigo/A%20First%20Interaction。

2. Visualisation 可视化

   Find and call launchers to visualise the turtle and its data streams.寻找并呼叫启动器来可视化turtle和它的数据流。

3. 3D Visualisation 3D可视化

   Visualising 3d and camera data from the kinect/asus.来自kinect/asus的3D可视化和相机数据

2）遥控操作

1. Keyboard Teleop 键盘遥控操作turtlebot

   Keyboard teleoperation of a turtlebot.turtlebot的键盘遥控操作。：http://wiki.ros.org/turtlebot_teleop/Tutorials/indigo/Keyboard%20Teleop

2. Joystick Teleop Joystick遥控操作

   Joystick teleoperation of a turtlebot.turtlebot的Joystick遥控操作。：http://wiki.ros.org/turtlebot_teleop/Tutorials/indigo/Joystick%20Teleop

3. Qt Teleop Qt的遥控操作

   Qt teleoperation of a turtlebot. turtlebot的Qt遥控操作：http://wiki.ros.org/rocon_qt_teleop/Tutorials/indigo/Qt%20Teleop%20a%20turtlebot

4. Interactive Markers Teleop 交互标记遥控操作

   A tutorial describing how to use rviz interactive markers for controlling the TurtleBot. 一个描述如何使用rviz交互标记操作turtlebot的教程。

3）导航

1. SLAM Map Building with TurtleBot 使用TurtleBot进行SLAM地图构建

   How to generate a map using gmapping 如何使用gmapping生成一个地图：http://wiki.ros.org/turtlebot_navigation/Tutorials/indigo/Build%20a%20map%20with%20SLAM

2. Autonomous Navigation of a Known Map with TurtleBot 使用TurtleBot一个已知地图的同步导航

   This tutorial describes how to use the TurtleBot with a previously known map. 该教程描述了如何使用TurtleBot在一个已知地图上。

4）一些有趣的事

1. The TurtleBot Follower Demo TurtleBot跟随者Demo

   This describes how to run the TurtleBot Follower Demo on your TurtleBot. 这个描述了如何在你的TurtleBot上运行TurtleBot跟随者Demo。

2. The TurtleBot Panorama Demo TurtleBotDemo TurtleBot全景图Demo

   This describes how to run the TurtleBot Panorama Demo on your TurtleBot. 这个描述了如何在你的TurtleBot上运行TurtleBot全景图Demo。

5）Android交互

1. Download Turtlebot Android Apps from Play Store 从Play Store上下载Turtlebot Android Apps

   Download android apps from Play Store to run turtlebot rapps on your turtlebot via android device 从Play Store上下载android apps在你的turtlebot上通过android设备运行turtlebot apps。

2. How to Run Turtlebot Andorid Application 如何运行Turtlebot Android程序

   Instructions how to run turtlebot android application 关于如何运行turtlebot android程序的指导教程。

3. Turtlebot Android Application Dev Tutorial Turtlebot Android程序开发教程

   Instructions how to develop turtlebot android app 关于如何开发turtlebot android程序的指导教程

6. 模拟

1）舞台

1. TurtleBot in Stage Simulator 在舞台模拟器中的TurtleBot

   How to start turtlebot stage simulation 如何开始turtlebot舞台模拟

2. Customizing the Stage Simulator 自定义舞台模拟器

   Explains how to use your own map with the stage simulator for turtlebot and adjust configurations for your needs 解释如何使用为turtlebot舞台模拟器的你自己的地图，然后调整位置满足你的需要

2）眺望台

• Gazebo Bringup Guide 眺望台调试指导

  See the simulated turtlebot in Gazebo. 在眺望台看模拟的turtlebot。

• Explore the Gazebo world 探究Gazebo世界

  Cruise around in the Gazebo world and use RViz to "see" what's in it. 在Gazebo世界浏览，使用RViz来“看”里面有什么。

• Make a map and navigate with it 制作一张地图并用它导航

  Use the navigation stack to create a map of the Gazebo world and start navigation based on it. 使用导航stack栈来创建一张Gazebo世界的地图，然后基于它开始导航

7. 开发角

1. Customising the Turtle 自定义Turtle

   Pre-load your own customisations/configuration on the turtle. 在turtle上预加载你自己的定制/配置。

2. Create your First Rapp 创建你的第一个Rapp

   Create, load and execute a 'babbler' rapp, and, is it really worth the effort? 创建，加载然后执行一个'babbler'rapp，是不是很值得努力呢？

3. Create your First Interaction 创建你的第一个交互

   Create, load and execute a 'babbler' interaction. 创建，加载并执行一个'babbler'交互。

4. Adding New 3D Sensor 添加新的3D传感器

   Add support for a new 3D sensor to the turtlebot stack. 支持向turtlebot栈上添加一个新的3D传感器。

Tutorials describing how to develop android interactions can be found in the android corner.

描述如何开发android交互的教程可以在android corner找到：http://wiki.ros.org/android%20corner。

8.附录

（1）Rocon QT App管理器

1. Start Rapp with QT App manager 开始使用QT App管理器的Rapp

   How to start implementation rapps with Rocon Qt App manager 如何通过Rocon Qt App管理器开始使用rapp

（2）多TurtleBot协调

Teleop Concert 遥控协同

Teleoperate multiple turtlebots! 遥控操作多个turtlebots!

1. TurtleBot Concert Bringup TurtleBot协同尝试

   how to start the turtlebot concert 如何开始turtlebot协同

2. Bring up Turtlebot as Concert Client 用Turtlebot作协同客户端

   how to start the turtlebot concert 如何开始turtlebot协同

3. Teleop a turtlebot via Concert 通过协同遥控操作一个turtlebot

   how to teleoperate turtlebot in concert 如何在协同中遥控操作turtlebot

（3）其他资源

• Turtlebot Quick Start Tutorials - Gaitech EDU Portal Turtlebot快速开始教程 - Gaitech EDU Portal：http://edu.gaitech.hk/turtlebot/turtlebot-tutorials.html

• learn.turtlebot.com learn.turtlebot.com：http://learn.turtlebot.com/

• Getting Start TurtleBot with Matlab 让我们使用Matlab开始TurtleBot：http://mathworks.com/help/robotics/examples/getting-started-with-a-real-turtlebot.html

地址：http://wiki.ros.org/Robots/TurtleBot