Demo 1

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  • The demo 1 package can be found here : demo
  • Before launching the demo 1 package, user need to launch 4 more packages step by step:
    • on turtlebot:
      • roslaunch turtlebot_bringup minimal.launch
    • on turtlebot:
      • roslaunch turtlebot_navigation amcl_demo.launch map_file:=/YOUR/MAP/FILE/LOCATION/MAP.yaml
    • on workstation:
      • roslaunch turtlebot_rviz_launchers view_navigation.launch
    • on workstation:
      • roslaunch cmvision cmvision.launch
    • on turtlebot:
      • roslaunch demo demo.launch

  • This package will allow the turtlebot to travel to 4 different locations based on the voice command given,
  • Argentina to Location A, Brazil to Location B, China to Location C and Japan to Location D.
  • According to the demo source code, turtlebot will only find blue object at Location D (Japan).
  • It is recommended to change all the coordinates of locations according to user's map and task requirement.
  • If user wish to change the command, such as changing "Argentina" to "New York", or create new sentences, user is recommended to follow the instructions in this website: Building new corpus, which is under the topic of "Creating A Vocabulary".
  • User can change the colour that the turtlebot need to detect, please refer to this website: colour tuning.
  • The object can be grip by using Turtlebot arm, by using this demo package, need to be:
    • on top of a 22.5cm height platform.
    • 12.5cm away from the edge of the platform.
    • the object has a diameter of 3cm and height of 11.5cm (we use an adhesive stick).
  • To allow this package to run smoothly, user need to comment the following sentence:
    • <remap from="kobuki_safety_controller/cmd_vel" to="/cmd_vel_mux/input/safety_controller"/>
    • which can be found at /turtlebot/src/turtlebot_apps/turtlebot_navigation/launch/includes/safety_controller.launch.xml
  • However, user please uncomment the sentence above after running this package. This is to make sure turtlebot can function is a safe condition.