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User_Inst_TurtleBot2
1.5 TurtleBot2
Note: This tutorial assumes that you have completed tutorials:
This tutorial explains how to set up the example robot TurtleBot2.
- Install the required TurtleBot2 sources on the Ubuntu VM
$ sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-simulator ros-kinetic-kobuki-ftdi ros-kinetic-ar-track-alvar-msgs ros-kinetic-turtlebot-gazebo
- Set the required environment variables:
$ export TURTLEBOT_BASE=roomba
$ export TURTLEBOT_STACKS=circles
$ export export TURTLEBOT_3D_SENSOR=kinect
Next tutorial: 1.6 Shadow Hand
© Siemens AG, 2018 Author: Verena Röhrl ([email protected])
1. Installation and Configuration
1.1 Unity on Windows
1.2 Ubuntu on Oracle VM
1.3 ROS on Ubuntu
1.4 Gazebo Setup on VM
1.5 TurtleBot2
1.6 Shadow Hand
1.7 Gazebo Simulation Example Setup
1.8 Unity Simulation Example Setup
2. Application examples with ROS communication
2.1 Transfer a URDF from ROS to Unity
2.2 Transfer a URDF from Unity to ROS
2.3 Gazebo Simulation Example
2.4 Unity Simulation Example
2.5 Fibonacci Action Client
2.6 Fibonacci Action Server
3. Application examples without ROS communication
3.1 Import a URDF on Windows
3.2 Create, Modify and Export a URDF Model
3.3 Animate a Robot Model in Unity
ROS-Unity Coordinate System Conversions
How to add new Message Types
RosBridgeClient Protocols
RosBridgeClient Serializers
Message Handling Code Map
Action Server State Machine Model
License Headers