... | ... | @@ -45,7 +45,7 @@ Turtlebot4 |
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_TurtleBot 4_ is the next-generation of the world’s most popular open source robotics platform for education and research, offering better computing power, better sensors and a world class user experience at an affordable price point.
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For this course, the _Turtlebot 4_ is simulated, using a 2D simulator called \textit{simple simulator}, which can run well in thinlinc or the lab computers. The official project use a 3D simulator, [https://gazebosim.org/](Gazebo), which work poorly on the University computers.
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For this course, the _Turtlebot 4_ is simulated, using a 2D simulator called _simple simulator_, which can run well in thinlinc or the lab computers. The official project use a 3D simulator, [https://gazebosim.org/](Gazebo), which work poorly on the University computers.
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Setup the environment
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... | ... | @@ -83,6 +83,22 @@ If all went well, the following image should appear: |
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The _red_ dot is the robot. The black square are obstacles and the dots with numbers are semantic objects which are used in an other lab.
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Visualisation
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The robot is ready to take commands, but the visualisation by the simulator is very limited. However, ROS provides a good visualisation tool called ```RViz```. To start it, in a terminal, run:
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```bash
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rviz2
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```
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![rviz_empty](uploads/62e97910ebad5d01376885940c0d48de/rviz_empty.png)
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![rviz_add](uploads/6ed71d5720c80f448f5adb93e1b9a7e2/rviz_add.png)
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![rviz_final](uploads/77a697f1e5267c9b0bb23589c0241637/rviz_final.png)
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Send command to the robot
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