Turtlebot3_noetic Dockerイメージ

How to Start

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。 cd

mouse bottan right click  -> Open terminal
cm
cd 
cd scripts
./autorace2020.sh

Extrinsic Camera Calibration

roslaunch turtlebot3_gazebo turtlebot3_autorace_2020.launch
roslaunch turtlebot3_autorace_camera intrinsic_camera_calibration.launch
roslaunch turtlebot3_autorace_camera extrinsic_camera_calibration.launch mode:=calibration
rqt

Execute rqt_reconfigure

rosrun rqt_reconfigure rqt_reconfigure

Lane Detection

Calibration

roslaunch turtlebot3_gazebo turtlebot3_autorace_2020.launch
roslaunch turtlebot3_autorace_camera intrinsic_camera_calibration.launch
roslaunch turtlebot3_autorace_camera extrinsic_camera_calibration.launch
roslaunch turtlebot3_autorace_detect detect_lane.launch mode:=calibration
rqt

Start lane detection

roslaunch turtlebot3_gazebo turtlebot3_autorace_2020.launch
roslaunch turtlebot3_autorace_detect detect_lane.launch
roslaunch turtlebot3_autorace_driving turtlebot3_autorace_control_lane.launch

Traffic Sign Detection

roslaunch turtlebot3_gazebo turtlebot3_autorace_2020.launch
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
rqt_image_view

SELECT_MISSION intersection, construction, parking, level_crossing, tunnel

roslaunch turtlebot3_autorace_camera intrinsic_camera_calibration.launch
roslaunch turtlebot3_autorace_camera extrinsic_camera_calibration.launch
roslaunch turtlebot3_autorace_detect detect_sign.launch mission:=SELECT_MISSION
rqt_image_view