fim_track_2

This is the ROS2 version of fim_track package. Testing on ROS2 dashing, Gazebo 9, Ubuntu 18.04.

---

First Steps and Example Usage

Prerequisite: on a Ubuntu 18.04/20.04 system, install ROS2 and Gazebo 9/11(following the instructions on https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/#pc-setup).

Assume you have followed all the instructions on Turltebot3 emanual website, your current ROS workspace directory should be turtlebot3_ws.

Clone fim_track_2 repository into turtlebot3_ws/src.

Call $colcon build --symlink-install to build the package.

And call $source /turtlebot3_ws/install/setup.bash to ensure the executables in fim_track_2 are visible to ros2 command.

Then in a terminal, add the model files to $GAZEBO_MODEL_PATH

$export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/turtlebot3_ws/src/fim_track_2/models

Now we should be able to launch the pre-configured gazebo simulation via

$ros2 launch fim_track_2 gazebo_simulation_launch.py

Use $ros2 topic list to view the collection of published topics.

Then use

$ros2 run fim_track_2 manual_teleop_key <robot_namespace>

without the ".py" postfix to "manual_teleop_key" to control individual robots using keyboard.

Special attention when running my_tb3_bringup for the first time on a Turtlebot

The specification file burger.yaml needs to be editted for the my_tb3_bringup script to work. Specifically, go to folder /param and open burger.yaml, replace MobileSensor3 with the hostname of the new robot. Here hostname can be found by typing hostname in the Linux terminal.