Turtlebot3_humble Dockerイメージ

How to Start

git clone https://forgejo.ikko-lab.k.hosei.ac.jp/ikko/turtlebot3_humble.git
cd turtlebot3_humble
./up.sh

ブラウザ経由

ブラウザでhttpでポート6080で起動

右クリックしてターミナルを開く

cm とタイプして、ビルドする。(すでにビルドしてあるので不要)

cd scripts
./autorace.sh

MobaXterm経由(Windowsのみ)

ssh loginで、ポート2222として、ID:kbkn, PW:kobakenでログイン

cd scripts
./autorace1.sh

ros2 launch turtlebot3_gazebo turtlebot3_autorace_2020.launch.py
ros2 launch turtlebot3_autorace_camera intrinsic_camera_calibration.launch.py
ros2 launch turtlebot3_autorace_camera extrinsic_camera_calibration.launch.py mode:=calibration
ros2 run rqt_image_view rqt_image_view 

Execute rqt_reconfigure

ros2 run rqt_reconfigure rqt_reconfigure

Lane following

ros2 launch turtlebot3_gazebo turtlebot3_autorace_2020.launch.py &
ros2 launch turtlebot3_autorace_camera intrinsic_camera_calibration.launch.py &
ros2 launch turtlebot3_autorace_camera extrinsic_camera_calibration.launch.py &
ros2 launch turtlebot3_autorace_detect detect_lane.launch.py &
ros2 launch turtlebot3_autorace_mission control_lane.launch.py
ros2 run rqt_image_view rqt_image_view &

current available launch

ros2 launch turtlebot3_gazebo turtlebot3_autorace_2020.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
ros2 launch turtlebot3_gazebo empty_world.launch.py
ros2 launch turtlebot3_gazebo multi_robot.launch.py
ros2 launch turtlebot3_gazebo multi_spawn_turtlebot3.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_dqn_stage1.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_dqn_stage2.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_dqn_stage3.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_dqn_stage4.launch.py
ros2 launch turtlebot3_gazebo robot_state_publisher.launch.py
ros2 launch turtlebot3_gazebo spawn_turtlebot3.launch.py

ros2 launch turtlebot3_autorace_camera intrinsic_camera_calibration.launch.py
ros2 launch turtlebot3_autorace_camera extrinsic_camera_calibration.launch.py

ros2 launch turtlebot3_autorace_detect detect_level_crossing.launch.py
ros2 launch turtlebot3_autorace_detect detect_traffic_light.launch.py
ros2 launch turtlebot3_autorace_detect detect_sign.launch.py
ros2 launch turtlebot3_autorace_detect detect_lane.launch.py

ros2 launch turtlebot3_autorace_mission control_lane.launch.py
ros2 launch turtlebot3_autorace_mission mission_construction.launch.py
ros2 launch turtlebot3_autorace_mission mission_tunnel.launch.py

ros2 launch turtlebot3_cartographer occupancy_grid.launch.py
ros2 launch turtlebot3_cartographer cartographer.launch.py

ros2 launch turtlebot3_navigation2 navigation2.launch.py

ros2 launch turtlebot3_bringup robot.launch.py
ros2 launch turtlebot3_bringup rviz2.launch.py
ros2 launch turtlebot3_bringup camera.launch.py
ros2 launch turtlebot3_bringup turtlebot3_state_publisher.launch.py

ros2 launch turtlebot3_fake_node rviz2.launch.py
ros2 launch turtlebot3_fake_node turtlebot3_fake_node.launch.py

ros2 launch turtlebot3_manipulation_gazebo turtlebot3_home_service_challenge.launch.py
ros2 launch turtlebot3_manipulation_gazebo fake.launch.py
ros2 launch turtlebot3_manipulation_gazebo base.launch.py
ros2 launch turtlebot3_manipulation_gazebo gazebo.launch.py