Hands on your turtlebot

Hands on your turtlebot
Juan David Adarve
The Australian National University
March, 2015
Adarve (ANU)
Hands on your turtlebot
March, 2015
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Turtlebot Hardware + Software
1 Turtlebot kit {base,
laptop, kinect, webcam}
USB stick with VirtualBox
machine.
Adarve (ANU)
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March, 2015
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VirtualBox machine
Ubuntu 14.04 + ROS Indigo + Eclipse IDE
ROS Catkin workspace at /home/ros/workspace pybot
Adarve (ANU)
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Network configuration
4 WiFi networks: wifibot {1,2,3,4} 3 turtles per network
Configure Adapter 1-2 (Lan, WiFi) as bridged interface in VirtualBox.
Reset MAC addresses.
turtlebot: edit .bashrc
export ROS_MASTER_URI=http://<TURTLEBOT_IP>:11311
export ROS_HOSTNAME=<TURTLEBOT_IP>
Virtual machine: edit .bashrc
export ROS_MASTER_URI=http://<TURTLEBOT_IP>:11311
export ROS_HOSTNAME=<VIRTUAL_IP>
Adarve (ANU)
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Pybot demos
Motor control
$ rosrun pybot pybot_control.py
Laser scan
$ rosrun pybot pybot_laserscan.py
Accessing Kinect
$ rosrun pybot pybot_vision.py _topic:=<image_topic>
_compressed:=<bool>
Adarve (ANU)
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Pybot demos
Accessing webcam
$ rosrun pybot pybot_camera.py _topic:=<image_topic>
_camera:=<int> _resolution:=<[width, height]>
Adarve (ANU)
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Try it out!
turtlebot
$ roscore
$ rosrun pybot pybot_camera.py _camera:=0
Virtual machine
$ rostopic list
$ rosrun pybot pybot_vision.py
_topic:=/pybot/camera/image_color/compressed
Adarve (ANU)
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Pybot demos
Color detection
$ rosrun pybot pybot_blob _topic:=<image_topic>
Adarve (ANU)
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Try it out!
turtlebot
$ roslaunch turtlebot_bringup minimal.launch
$ roslaunch openni_launch openni.launch
Virtual machine
$ rostopic list
$ rosrun pybot pybot_blob.py
Adarve (ANU)
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Let’s pop some balloons!
Prepare your turtlebot to pop some balloons in the Robot Arena.
2 turtlebots per team (red and green). 3 balloons/lifes per turtlebot.
Blue balloons around environment
Blue
1 point
Red/Green 3 points
Check/modify pybot blob.py as a starting point.
Thank you :)
Adarve (ANU)
Hands on your turtlebot
March, 2015
10 / 10