KAIST-NMAIL / tbot_ws

Auto workspace setup for NMAIL's Turtlebot based testing platform

tbot_ws

Auto workspace setup for Turtlebot based testing platform

Usage:

• . install.sh (this will fully setup the workspace)
• . build.sh (this will rebuild if any changes made in src/*)
• . source (this sources the workspace so that you can roslaunch things)

Velodyne

• velodyne : link

topics

• /scan
• /velodyne_packets
• /velodyne_points

Example

• Cartographer_turtlebot_demo

ref: link

# Download the example bag.
wget -P ~/Downloads https://storage.googleapis.com/cartographer-public-data/bags/turtlebot/cartographer_turtlebot_demo.bag

# Launch the 2D LIDAR demo.
roslaunch cartographer_turtlebot demo_lidar_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

# Launch the 2D depth camera demo.
roslaunch cartographer_turtlebot demo_depth_camera_2d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

# Launch the 3D depth camera demo.
roslaunch cartographer_turtlebot demo_depth_camera_3d.launch bag_filename:=${HOME}/Downloads/cartographer_turtlebot_demo.bag

Troubleshooting

1. Suitesparse problem

• ref: link

• ceres-solver build

cd src/ceres-solver
mkdir build
cd build
cmake .. -G Ninja -DCXX11=ON  -DCMAKE_INSTALL_PREFIX=/usr/local/stow/ceres
ninja -j15
sudo ninja install
cd /usr/local/stow/
sudo stow ceres

• rebuild Cartographer

cd src/cartographer
cmake ./CMakeLists.txt -G Ninja && ninja -j15

2. pcap.h error

• ref: link

sudo apt-get install libpcap0.8-dev