Turtlebot2-On-Melodic

Make your Turtlebot2 run on ROS Melodic (Ubuntu 18.04).

This project referenced this issue. Thanks to the work of bunchofcoders and ProfJust.

Prerequisites

• ROS Melodic on Ubuntu 18
• Turtlebot2

Build Turtlebot2 Workspace

Firstly, cd to your catkin workspace.

If you don't have one, cd to somewhere you want to create it, and then run the following commands to create one

mkdir -p src
catkin_make

Now run the following command (inside the root of catkin workspace) to build up running environment for Turtlebot2

curl -sLf https://raw.githubusercontent.com/umnxslin/Turtlebot2-On-Melodic/master/install_basic.sh | bash
catkin_make

Bring Up Turtlebot2

Now connect a turtlebot2 to the computer. After that, run this command to bring up the Turtlebot2

source ./devel/setup.bash
roslaunch turtlebot_bringup minimal.launch

If nothing wrong, you will hear the Turtlebot2 give out a reminder.

Test Turtlebot2

If you want to use keyboard to control it, just run the following command

source ./devel/setup.bash
roslaunch turtlebot_teleop keyboard_teleop.launch

And it will output something like this

ROS_MASTER_URI=http://localhost:11311

process[turtlebot_teleop_keyboard-1]: started with pid [23757]

Control Your Turtlebot!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothly

CTRL-C to quit

currently:	speed 0.2	turn 1 

Now you should be able to use keyboard to control your Turtlebot2.

If you want to use ROS Topics to control it, just run the following command

rostopic pub -r 10 /mobile_base/commands/velocity geometry_msgs/Twist '{linear: {x: 0.3}, angular: {z: 1.0}}'