Difference between revisions of "Ruben-RV-ROS01"

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Simple scenario
Simple scenario
[http://www.youtube.com/watch?v=_48PI78E-hg Simple navigation]
A wall scenario  
A wall scenario  
[http://www.youtube.com/watch?v=nSkOCBKolfQ Navigation with obstacle]
A realistic scenario
A realistic scenario
==Path Planning==
==Path Planning==

Revision as of 15:01, 10 October 2013

  • Project name: Turtlebot robot indoor navigation
  • Dates: July 2013 -
  • Degree: Summer Research Residence
  • Authors: Ruben
  • Contact: runix404@gmail.com
  • SVN Repositories:
  • Tags: ROS, navigation, turtlebot
  • Technologies: kinect, pcl, openni, c++, cmake, ROS
  • State: Ongoing

ROS Fuerte Installation on Ubuntu 12.04

Repository configuration

First we need to add the repository

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'

and setup the keys

wget http://packages.ros.org/ros.key -O - | sudo apt-key add -


We need to refresh the cache of your package manager

sudo apt-get update

In our case, we decide to install ros-fuerte-desktop-full that is recommended in the ROS web, but you can also install other as explained on the web

sudo apt-get install ros-fuerte-desktop-full

Enviroment Configuration

Now we need to configure the enviroment variables

echo "source /opt/ros/fuerte/setup.bash" >> ~/.bashrc

For refresh the enviroment variables of your terminal you can reset it or type

 . ~/.bashrc

Turtlebot installation

The turtlebot installation is very simple, you only have to type in your terminal

 sudo apt-get install ros-fuerte-turtlebot*


Feasible Solutions

Dynamic window algorithm


1. Simple scenario Simple navigation 2. A wall scenario Navigation with obstacle 3. A realistic scenario

Path Planning


Graph SLAM