Demo 2

From KameRider
Jump to: navigation, search
  • The demo 2 package can be found here : demo 2
  • Before launching the demo 2 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_2 demo_2.launch


  • This package is basically the same as the demo 1 package.
  • The only differences will the the arm used and the requirement of the object to be detected.
  • The arm used in this package is CRANE+ arm.
  • Object and platform requirements:
    • The object need be placed on a 28.5cm height platform.
    • The object has to be put 9cm away from the edge of platform.
    • The object has diameter of 6cm and height of 16cm. (we use a small bottle).
    • Part of the object need to be red.
  • Please do any necessary modification so that this package can perform according to the user's map and task requirement.
  • As mentioned in Demo 1, please 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
  • and please uncomment the sentence above after running this package. This is to make sure turtlebot can function is a safe condition.