sudo apt-get install ros-electric-turtlebot-desktop

sudo apt-get install chrony

sudo apt-get install ros-electric-turtlebot-robot

ATTRS{idProduct}=="XXXX",ATTRS{idVendor}=="XXXX",MODE="666",GROUP="turtlebot"

lsusb

Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 003 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 004 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 005 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
Bus 002 Device 002: ID 0a5c:2101 Broadcom Corp. Bluetooth Controller
Bus 003 Device 002: ID 04fc:0801 Sunplus Technology Co., Ltd 
Bus 004 Device 002: ID 08ff:2580 AuthenTec, Inc. AES2501 Fingerprint Sensor
Bus 004 Device 003: ID 0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC

echo export ROS_MASTER_URI=http://IP_OF_TURTLEBOT:11311 >> ~/.bashrc

echo export ROS_HOSTNAME=IP_OF_TURTLEBOT >> ~/.bashrc

echo export ROS_HOSTNAME=IP_OF_WORKSTATION >> ~/.bashrc

ifconfig

      eth0      Link encap:Ethernet  direcciónHW 00:16:d4:55:85:b4  
                ACTIVO DIFUSIÓN MULTICAST  MTU:1500  Métrica:1
                Paquetes RX:0 errores:0 perdidos:0 overruns:0 frame:0
                Paquetes TX:0 errores:0 perdidos:0 overruns:0 carrier:0
                colisiones:0 long.colaTX:1000 
                Bytes RX:0 (0.0 B)  TX bytes:0 (0.0 B)
                Interrupción:44 

      lo        Link encap:Bucle local  
                Direc. inet:127.0.0.1  Másc:255.0.0.0
                Dirección inet6: ::1/128 Alcance:Anfitrión
                ACTIVO BUCLE FUNCIONANDO  MTU:16436  Métrica:1
                Paquetes RX:64 errores:0 perdidos:0 overruns:0 frame:0
                Paquetes TX:64 errores:0 perdidos:0 overruns:0 carrier:0
                colisiones:0 long.colaTX:0 
                Bytes RX:5184 (5.1 KB)  TX bytes:5184 (5.1 KB)

      wlan0     Link encap:Ethernet  direcciónHW 00:18:de:21:4b:ad  
                Direc. inet:192.168.1.10  Difus.:192.168.1.255  Másc:255.255.255.0
                Dirección inet6: fe80::218:deff:fe21:4bad/64 Alcance:Enlace
                ACTIVO DIFUSIÓN FUNCIONANDO MULTICAST  MTU:1500  Métrica:1
                Paquetes RX:130972 errores:0 perdidos:0 overruns:0 frame:0
                Paquetes TX:87840 errores:0 perdidos:0 overruns:0 carrier:0
                colisiones:0 long.colaTX:1000 
                Bytes RX:169415208 (169.4 MB)  TX bytes:9379691 (9.3 MB)

ssh turtlebot@IP_OF_TURTLEBOT

sudo service turtlebot status

sudo service turtlebot stop
sudo service turtlebot start

rosrun turtlebot_dashboard turtlebot_dashboard&

mkdir ~/ros_workspace

#!/bin/sh
source /opt/ros/electric/setup.bash
export ROS_ROOT=/opt/ros/electric/ros
export PATH=$ROS_ROOT/bin:$PATH
export PYTHONPATH=$ROS_ROOT/core/roslib/src:$PYTHONPATH
export ROS_PACKAGE_PATH=~/ros_workspace:/opt/ros/electric/stacks:$ROS_PACKAGE_PATH

echo source  ~/setup.sh >> ~/.bashrc

cd ~/ros_workspace
roscreate-pkg turtlebot_fer std_msgs turtlebot_node geometry_msgs nav_msgs sensor_msgs image_transport roscpp

      <package>
        <description brief="turtlebot_fer">

           turtlebot_fer

        </description>
        <author>FeR</author>
        <license>BSD</license>
        <review status="unreviewed" notes=""/>
        <url>http://ros.org/wiki/turtlebot_fer</url>
        <depend package="turtlebot_node"/>
        <depend package="geometry_msgs"/>
        <depend package="nav_msgs"/>
        <depend package="std_msgs"/>
        <depend package="sensor_msgs"/>
        <depend package="image_transport"/>
        <depend package="roscpp"/>

      </package>

rosmake turtlebot_fer

  #include "ros/ros.h"   //Librería de funciones del sistema ROS
  #include "geometry_msgs/Twist.h"   //Librería "Twist" del package "geometry_msgs"

  int main(int argc, char **argv)
  {

	ros::init(argc, argv, "gira");   //Creación del nodo "gira"

        ros::NodeHandle n;
  
        ros::Publisher vel_pub_=n.advertise<geometry_msgs::Twist>("cmd_vel", 1);   //Publicación del topic "cmd_vel"

        geometry_msgs::Twist vel;

        ros::Rate loop_rate(10);   //Frecuencia de realización del bucle (10 Hz)
  
        while (ros::ok())   //Bucle mientras no se reciba "Ctrl+C"
        {
	      vel.linear.x = 0.2;   //velocidad de avance
       	      vel.angular.z = 0.4;   //velocidad de giro
   
	      vel_pub_.publish(vel);
	
              loop_rate.sleep();
        }

        return 0;
  }

rosbuild_add_executable(gira src/gira.cpp)

roscd turtlebot_fer
make

sudo apt-get install ros-electric-turtlebot-simulator

# export ROS_MASTER_URI=http://IP_OF_TURTLEBOT:11311
# export ROS_HOSTNAME=IP_OF_WORKSTATION

roslaunch turtlebot_gazebo turtlebot_empty_world.launch

rosrun turtlebot_fer gira

roscd turtlebot_fer
cd src
scp gira.cpp turtlebot@IP_OF_TURTLEBOT:/home/turtlebot/ros_workspace/turtlebot_fer/src/gira.cpp

rosrun turtlebot_fer gira

  #include "ros/ros.h"   //Librería de funciones del sistema ROS
  #include "geometry_msgs/Twist.h"   //Librería "Twist" del package "geometry_msgs"
  #include "turtlebot_node/TurtlebotSensorState.h"   //Librería "TurtlebotSensorState" del package "turtlebot_node"

  geometry_msgs::Twist vel;   //Declaración de la variable global vel
  double alea;   //Declaración de la variable global alea

  void callback(const turtlebot_node::TurtlebotSensorState& sen)   //Función de llamda con cada dato recibido
  {	
        ros::NodeHandle n;
  
  	ros::Publisher vel_pub_=n.advertise<geometry_msgs::Twist>("cmd_vel", 1);   //Publicación del topic "cmd_vel"
  	
  	ros::Rate loop_rate(10);   //Frecuencia de realización del bucle (10 Hz)
			
        ros::Time ahora;   //Declaración de variable tipo tiempo, variable ROS
  	
  	
  	if (sen.bumps_wheeldrops == 0)   //Comprobación si ha habido señal del parachoques
  	{
	        ::vel.linear.x = 0.2;
	        ::vel.angular.z = 0.0;
	
 		vel_pub_.publish(::vel);
	}
        else
  	{
 		ahora = ros::Time::now();   //Asignación del tiempo actual a la variable ahora
			
		
		while (ros::Time::now() < (ahora + ros::Duration(0.5)))   //Bucle durante 0,5 segundos, retroceso después de choque
 		{
			::vel.linear.x = -0.2;
 			::vel.angular.z = 0.0;
	
			vel_pub_.publish(::vel);
			
			loop_rate.sleep();
 		}
		
		::alea = ((rand() %40) -20)/10;   //Asignación de valor aleatorio
		
		while (::alea == 0)   //Bucle mientras la variable aleatoria sea cero
		{
			::alea = ((rand() %40) -20)/10;	
		}
		
		ahora = ros::Time::now();   //Asignación del tiempo actual a la variable ahora
		
		while (ros::Time::now() < (ahora + ros::Duration(1.5)))   //Bucle durante 1,5 segundos, giro de ángulo aleatorio
		{
			::vel.linear.x = 0.0;
			::vel.angular.z = ::alea;
	
			vel_pub_.publish(::vel);
			
			loop_rate.sleep();
		}
	}
  } 


  int main(int argc, char **argv)
  {

	ros::init(argc, argv, "juguete_golpe");   //Creación del nodo "juguete_golpe"

	ros::NodeHandle n;
  
  	ros::Publisher vel_pub_=n.advertise<geometry_msgs::Twist>("cmd_vel", 1);   //Publicación del topic "cmd_vel"
  	
  	ros::Subscriber odom_sub_= n.subscribe("turtlebot_node/sensor_state", 1, callback);  //Suscripción del topic "turtlebot_node/sensor_state"
  
	ros::spin();   //Mantiene la suscripción al topic hasta que se reciba "Ctrl+C"

        return 0;
  }

      #ifndef __PARAM_SIGUE_ROJO_H
      #define __PARAM_SIGUE_ROJO_H


      #define li_red 100   //Límite inferior para canal rojo
      #define ls_red 255   //Límite superior para canal rojo
      #define li_green 0   //Límite inferior para canal verde
      #define ls_green 30   //Límite superior para canal verde
      #define li_blue 0   //Límite inferior para canal azul
      #define ls_blue 50   //Límite superior para canal azul

      #define tam_min 0.001   //Porcentaje de píxeles de tonalidades rojas mínimo
      #define tam_max 0.05   //Porcentaje de píxeles de tonalidades rojas máximo
      #define tam_med 0.025   //Porcentaje de píxeles de tonalidades rojas medio

      #define Px 0.08   //Ganancia velocidad de avance-retroceso
      #define Pz 1.2   //Ganancia velocidad de giro

      #endif /*__PARAM_SIGUE_ROJO_H*/

  
  #include "ros/ros.h"   //Librería de funciones del sistema ROS
  #include "sensor_msgs/Image.h"   //Librería "Image" del package "sensor_msgs"
  #include "geometry_msgs/Twist.h"   //Librería "Twist" del package "geometry_msgs"
  #include "param_sigue_rojo.h"   //Parámetros de ajuste
 
  geometry_msgs::Twist vel;   //Declaración de la variable global vel
  sensor_msgs::Image region;   //Declaración de la variable global vel
 
  void callback(const sensor_msgs::Image& ima)
  {	
	ros::NodeHandle n;
 
  	ros::Publisher vel_pub_=n.advertise<geometry_msgs::Twist>("cmd_vel", 1);   //Publicación del topic "cmd_vel"
 
	uint pix_r;   //Declaración de variables de almacenaje valores rgb de cada píxel
	uint pix_g;
	uint pix_b;
	uint ancho = ima.step;   //Número de elementos de cada fila de la imagen
	uint tam = ima.data.size();   //Número de elementos del array
 
	double cont_izq = 0;   //Declaración e inicialización de contadores de píxeles
	double cont_der = 0;
	
	::region = ima;
	uint up;
	uint right;
	uint down;
	uint left;
 
	for (uint i = 0; i < tam; i = i + ancho)   //Filtro de regiones pequeñas o píxeles aislados
	{
		for (uint j = 0; j < ancho; j = j + 3)
		{
			pix_r = ima.data[i + j];
			pix_g = ima.data[i + j + 1];
			pix_b = ima.data[i + j + 2];
 
			if (pix_r >= li_red && pix_r <= ls_red && pix_g >= li_green && pix_g <= ls_green && pix_b >= li_blue && pix_b <= ls_blue)
			{
				up = 12;
				if ((i/ancho) < 12)
				{
					up = (i/ancho);
				}
				right = 12;
				if (((ancho - j)/3) < 12)
				{
					right = ((ancho - j)/3);
				}
				down = 12;
				if (((tam/ancho) - (i/ancho)) < 12)
				{
					down = ((tam/ancho) - (i/ancho));
				}
				left = 12;
				if ((j/3) < 12)
				{
					left = (j/3);
				}
				
				uint contr = 0;
				
				for (uint k = i + j - (ancho*up) - (3*left); k <= (i + j + (ancho*down) - (3*left)); k = k + ancho)
				{	
					for(uint l = 0; l < ((3*left) + (3*right) +3); l = l + 3)
					{
						pix_r = ima.data[k + l];
						pix_g = ima.data[k + l + 1];
						pix_b = ima.data[k + l + 2];
 
					if (pix_r >= li_red && pix_r <= ls_red && pix_g >= li_green && pix_g <= ls_green && pix_b >= li_blue && pix_b <= ls_blue)
					{
						contr++;
					}
					}
				}
				if (contr > (625*0.5))
				{
					::region.data[i + j] = 1;
					::region.data[i + j + 1] = 1;
					::region.data[i + j + 2] = 1;
				}
			}
		}
	}
		
	
	for (uint i = 0; i < (tam - (ancho/2)); i = i + ancho)   //Contar píxeles tonos rojos lado izquierdo imagen
	{
		for (uint j = 0; j < (ancho/2); j = j + 3)
		{
			pix_r = ::region.data[i + j];
			pix_g = ::region.data[i + j + 1];
			pix_b = ::region.data[i + j + 2];
 
			if (pix_r == 1 && pix_g == 1 && pix_b == 1)
			{
				cont_izq++;
			}
		}
	}
 
	for (uint i = (ancho/2); i < tam; i = i + ancho)   //Contar píxeles tonos rojos lado derecho imagen
	{
		for (uint j = 0; j < (ancho/2); j = j + 3)
		{
			pix_r = ::region.data[i + j];
			pix_g = ::region.data[i + j + 1];
			pix_b = ::region.data[i + j + 2];
 
			if (pix_r == 1 && pix_g == 1 && pix_b == 1)
			{
				cont_der++;
			}
		}
	}
 
	double cont = cont_izq + cont_der;
 
	if (cont > ((tam/3) * tam_min) && cont < ((tam/3) * tam_max))   //Comprobación si se está dentro del limite inferior y superior de píxeles
	{
		::vel.angular.z = (cont_izq - cont_der) / (::abs(cont_izq - cont_der) * Pz);   //Velocidad de giro
		::vel.linear.x = (((tam/3) * tam_med) - cont) / ((tam/3) * Px);   //Velocidad de avance-retroceso
		vel_pub_.publish(vel);
	}
  }
 
  int main(int argc, char **argv)
  {
 
	ros::init(argc, argv, "sigue_rojo");   //Creación del nodo "sigue_rojo"
 
	ros::NodeHandle n;
 
	ros::Publisher vel_pub_=n.advertise<geometry_msgs::Twist>("cmd_vel", 1);   //Publicación del topic "cmd_vel"
 
  	ros::Subscriber image_sub_= n.subscribe("camera/rgb/image_color", 1, callback);   //Suscripción del topic "camera/rgb/image_color"
 
	ros::spin();   //Mantiene la suscripción al topic hasta que se reciba "Ctrl+C"
 
    return 0;
  }

roslaunch turtlebot_bringup kinect.launch

  #include "ros/ros.h"   //Librería de funciones del sistema ROS
  #include "sensor_msgs/Image.h"   //Librería "Image" del package "sensor_msgs"
  #include "param_sigue_rojo.h"   //Parámetros de ajuste
 
  sensor_msgs::Image region;   //Declaración de la variable global region
 
  void callback(const sensor_msgs::Image& ima)
  {	
	ros::NodeHandle n;
 
	ros::Publisher rojo_pub_=n.advertise<sensor_msgs::Image>("camara/rojo", 1);   //Publicación del topic "camara/rojo"
 
	uint pix_r;   //Declaración de variables de almacenaje valores rgb de cada píxel
	uint pix_g;
	uint pix_b;
	uint ancho = ima.step;   //Número de elementos de cada fila de la imagen
	uint tam = ima.data.size();   //Número de elementos del array
 
	::region = ima;
	uint up;
	uint right;
	uint down;
	uint left;
 
	for (uint i = 0; i < tam; i = i + ancho)   //Filtro de regiones pequeñas o píxeles aislados
	{
		for (uint j = 0; j < ancho; j = j + 3)
		{
			pix_r = ima.data[i + j];
			pix_g = ima.data[i + j + 1];
			pix_b = ima.data[i + j + 2];
 
			if (pix_r >= li_red && pix_r <= ls_red && pix_g >= li_green && pix_g <= ls_green && pix_b >= li_blue && pix_b <= ls_blue)
			{
				up = 12;
				if ((i/ancho) < 12)
				{
					up = (i/ancho);
				}
				right = 12;
				if (((ancho - j)/3) < 12)
				{
					right = ((ancho - j)/3);
				}
				down = 12;
				if (((tam/ancho) - (i/ancho)) < 12)
				{
					down = ((tam/ancho) - (i/ancho));
				}
				left = 12;
				if ((j/3) < 12)
				{
					left = (j/3);
				}
				
				uint contr = 0;
				
				for (uint k = i + j - (ancho*up) - (3*left); k <= (i + j + (ancho*down) - (3*left)); k = k + ancho)
				{	
					for(uint l = 0; l < ((3*left) + (3*right) +3); l = l + 3)
					{
						pix_r = ima.data[k + l];
						pix_g = ima.data[k + l + 1];
						pix_b = ima.data[k + l + 2];
 
					if (pix_r >= li_red && pix_r <= ls_red && pix_g >= li_green && pix_g <= ls_green && pix_b >= li_blue && pix_b <= ls_blue)
					{
						contr++;
					}
					}
				}
				if (contr > (625*0.5))
				{
					::region.data[i + j] = 255;
					::region.data[i + j + 1] = 0;
					::region.data[i + j + 2] = 0;
					
				}
				else   //Conversión a escala de grises regiones pequeñas o píxeles aislados
				{
					if (pix_r > pix_g)
					{
						::region.data[i + j] = pix_r;
						::region.data[i + j + 1] = pix_r;
						::region.data[i + j + 2] = pix_r;
					}
					else if (pix_g > pix_b)
					{
						::region.data[i + j] = pix_g;
						::region.data[i + j + 1] = pix_g;
						::region.data[i + j + 2] = pix_g;
					}
					else
					{
						::region.data[i + j] = pix_b;
						::region.data[i + j + 1] = pix_b;
						::region.data[i + j + 2] = pix_b;
					}
				}
			}
			else   //Conversión a escala de grises resto píxeles
			{
				if (pix_r > pix_g)
				{
					::region.data[i + j] = pix_r;
					::region.data[i + j + 1] = pix_r;
					::region.data[i + j + 2] = pix_r;
				}
				else if (pix_g > pix_b)
				{
					::region.data[i + j] = pix_g;
					::region.data[i + j + 1] = pix_g;
					::region.data[i + j + 2] = pix_g;
				}
				else
				{
					::region.data[i + j] = pix_b;
					::region.data[i + j + 1] = pix_b;
					::region.data[i + j + 2] = pix_b;
				}
			}
		}
	}
	
	for (uint i = (ancho/2)-3; i < tam; i = i + ancho)   //Línea negra divisoria central
	{
		for (uint j = 0; j < 6; j = j + 3)
		{
				::region.data[i + j] = 0;   
				::region.data[i + j + 1] = 0;
				::region.data[i + j + 2] = 0;
		}
	}
 
        rojo_pub_.publish(::region);
  }
 
  int main(int argc, char **argv)
  {
 
	ros::init(argc, argv, "visualizacion");   //Creación del nodo "visualizacion"
 
	ros::NodeHandle n;
 
  	ros::Publisher rojo_pub_=n.advertise<sensor_msgs::Image>("camara/rojo", 1);   //Publicación del topic "camara/rojo"
 
        ros::Subscriber image_sub_= n.subscribe("camera/rgb/image_color", 1, callback);   //Suscripción del topic "camera/rgb/image_color"
 
	ros::spin();   //Mantiene la suscripción al topic hasta que se reciba "Ctrl+C"
 
	return 0;
  }

      <launch>
        <include file="$(find turtlebot_bringup)/kinect.launch" />
        <node name="sigue_rojo" pkg="turtlebot_fer" type="sigue_rojo" />
        <node name="visualizacion" pkg="turtlebot_fer" type="visualizacion" />
      </launch>

roslaunch turtlebot_fer rojo.launch

rosrun image_view image_view image:=/camara/rojo

roslaunch turtlebot_calibration calibrate.launch

[INFO] [WallTime: 1299286750.821002] Multiply the 'turtlebot_node/gyro_scale_correction' parameter with VALOR_CALIBRACION
[INFO] [WallTime: 1299286750.822427] Multiply the 'turtlebot_node/odom_angular_scale_correction' parameter with VALOR_CALIBRACION

      <launch>

        <!-- sample file, copy this to /etc/ros/electric/turtlebot.launch -->

        <param name="turtlebot_node/gyro_scale_correction" value="VALOR_ANTIGUO_x_VALOR_CALIBRACION"/>
        <param name="turtlebot_node/odom_angular_scale_correction" value="VALOR_ANTIGUO_x_VALOR_CALIBRACION"/>

        <include file="$(find turtlebot_bringup)/minimal.launch">
          <arg name="urdf_file" value="$(find xacro)/xacro.py '$(find turtlebot_description)/urdf/turtlebot.urdf.xacro'" />
        </include>

      </launch>

<param name="turtlebot_node/gyro_measurement_range" value="VALOR_SEGÚN_MODELO"/>

sudo service turtlebot stop
sudo service turtlebot start

rosrun dynamic_reconfigure reconfigure_gui

      <launch>
        <include file="$(find turtlebot_bringup)/kinect.launch" />

	<arg name="scan_topic" default="scan" />

        <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
          <param name="odom_frame" value="odom"/>
          <param name="map_update_interval" value="3.0"/>
          <param name="maxUrange" value="16.0"/>
          <param name="sigma" value="0.05"/>
          <param name="kernelSize" value="1"/>
          <param name="lstep" value="0.05"/>
          <param name="astep" value="0.05"/>
          <param name="iterations" value="5"/>
          <param name="lsigma" value="0.075"/>
          <param name="ogain" value="3.0"/>
          <param name="lskip" value="0"/>
          <param name="srr" value="0.01"/>
          <param name="srt" value="0.02"/>
          <param name="str" value="0.01"/>
          <param name="stt" value="0.02"/>
          <param name="linearUpdate" value="0.5"/>
          <param name="angularUpdate" value="0.436"/>
          <param name="temporalUpdate" value="-1.0"/>
          <param name="resampleThreshold" value="0.5"/>
          <param name="particles" value="80"/>

          <param name="xmin" value="-1.0"/>
          <param name="ymin" value="-1.0"/>
          <param name="xmax" value="1.0"/>
          <param name="ymax" value="1.0"/>

          <param name="delta" value="0.05"/>
          <param name="llsamplerange" value="0.01"/>
          <param name="llsamplestep" value="0.01"/>
          <param name="lasamplerange" value="0.005"/>
          <param name="lasamplestep" value="0.005"/>
          <remap from="scan" to="$(arg scan_topic)"/>
        </node>

        <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
          <rosparam file="$(find turtlebot_fer)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
          <rosparam file="$(find turtlebot_fer)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
          <rosparam file="$(find turtlebot_fer)/config/local_costmap_params.yaml" command="load" />
          <rosparam file="$(find turtlebot_fer)/config/global_costmap_params.yaml" command="load" />
          <rosparam file="$(find turtlebot_fer)/config/base_local_planner_params.yaml" command="load" />
        </node>
      </launch>

roslaunch turtlebot_fer crear_mapa.launch

roslaunch turtlebot_teleop keyboard_teleop.launch

rosrun rviz rviz -d `rospack find turtlebot_navigation`/nav_rviz.vcg

rosrun map_server map_saver -f /home/turtlebot/ros_workspace/turtlebot_fer/mapas/labf6

      <launch>
        <include file="$(find turtlebot_bringup)/kinect.launch" />

        <arg name="map_file" default="$(find turtlebot_fer)/mapas/labf6.yaml"/>

        <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />

        <arg name="use_map_topic" default="false"/>
        <arg name="scan_topic" default="scan" />

        <node pkg="amcl" type="amcl" name="amcl">
          <param name="use_map_topic" value="$(arg use_map_topic)"/>
          <!-- Publish scans from best pose at a max of 10 Hz -->
          <param name="odom_model_type" value="diff"/>
          <param name="odom_alpha5" value="0.1"/>
          <param name="gui_publish_rate" value="10.0"/>
          <param name="laser_max_beams" value="60"/>
          <param name="laser_max_range" value="12.0"/>
          <param name="min_particles" value="500"/>
          <param name="max_particles" value="2000"/>
          <param name="kld_err" value="0.05"/>
          <param name="kld_z" value="0.99"/>
          <param name="odom_alpha1" value="0.2"/>
          <param name="odom_alpha2" value="0.2"/>
          <!-- translation std dev, m -->
          <param name="odom_alpha3" value="0.2"/>
          <param name="odom_alpha4" value="0.2"/>
          <param name="laser_z_hit" value="0.5"/>
          <param name="laser_z_short" value="0.05"/>
          <param name="laser_z_max" value="0.05"/>
          <param name="laser_z_rand" value="0.5"/>
          <param name="laser_sigma_hit" value="0.2"/>
          <param name="laser_lambda_short" value="0.1"/>
          <param name="laser_model_type" value="likelihood_field"/>
          <!-- <param name="laser_model_type" value="beam"/> -->
          <param name="laser_likelihood_max_dist" value="2.0"/>
          <param name="update_min_d" value="0.25"/>
          <param name="update_min_a" value="0.2"/>
          <param name="odom_frame_id" value="odom"/>
          <param name="resample_interval" value="1"/>
          <!-- Increase tolerance because the computer can get quite busy -->
          <param name="transform_tolerance" value="1.0"/>
          <param name="recovery_alpha_slow" value="0.0"/>
          <param name="recovery_alpha_fast" value="0.0"/>
          <remap from="scan" to="$(arg scan_topic)"/>    
        </node>
 
        <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
          <rosparam file="$(find turtlebot_fer)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
          <rosparam file="$(find turtlebot_fer)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
          <rosparam file="$(find turtlebot_fer)/config/local_costmap_params.yaml" command="load" />
          <rosparam file="$(find turtlebot_fer)/config/global_costmap_params.yaml" command="load" />
          <rosparam file="$(find turtlebot_fer)/config/base_local_planner_params.yaml" command="load" />
        </node>
      </launch>

      <launch>
        <param name="robot_description" command="$(find xacro)/xacro.py '$(find turtlebot_description)/urdf/turtlebot.urdf.xacro'" />

        <node name="spawn_turtlebot_model" pkg="gazebo" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf 
-param robot_description -model turtlebot" respawn="false" output="screen"/>

        <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
          <rosparam command="load" file="$(find turtlebot_bringup)/config/diagnostics.yaml" />
        </node>
  
        <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen">
          <param name="publish_frequency" type="double" value="30.0" />
        </node>


        <!-- The odometry estimator -->

        <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
          <param name="freq" value="30.0"/>
          <param name="sensor_timeout" value="1.0"/>
          <param name="publish_tf" value="true"/>
          <param name="odom_used" value="true"/>
          <param name="imu_used" value="false"/>
          <param name="vo_used" value="false"/>
      	  <param name="output_frame" value="odom"/> <!-- NUEVA LINEA -->
        </node>


        <!-- throttling -->
        <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager" respawn="true">
          <param name="max_rate" value="20.0"/>
          <remap from="cloud_in" to="/camera/depth/points"/>
          <remap from="cloud_out" to="cloud_throttled"/>
        </node>

        <!-- Fake Laser -->
        <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager" respawn="true">
          <param name="output_frame_id" value="/camera_depth_frame"/>
          <!-- heights are in the (optical?) frame of the kinect -->
          <param name="min_height" value="-0.15"/>
          <param name="max_height" value="0.15"/>
          <remap from="cloud" to="/cloud_throttled"/>
        </node>

        <!-- Fake Laser (narrow one, for localization -->
        <node pkg="nodelet" type="nodelet" name="kinect_laser_narrow" args="load pointcloud_to_laserscan/CloudToScan openni_manager" respawn="true">
          <param name="output_frame_id" value="/camera_depth_frame"/>
          <!-- heights are in the (optical?) frame of the kinect -->
          <param name="min_height" value="-0.025"/>
          <param name="max_height" value="0.025"/>
          <remap from="cloud" to="/cloud_throttled"/>
          <remap from="scan" to="/narrow_scan"/>
        </node>


      </launch>