Documentation and Tutorials
Tutorial introduction:
The following document contains a general introduction to the tutorials found on this page
| introduction.docx |
Installation:
The following documents contain the installation guides for the Turtlebot and Workstation computers. These guides will walk you through the steps of doing a fresh install of the ROS software.
| turtlebot_installation.docx |
| workstation_installation.docx |
Additional Software Packages:
The following document contains a guide on how to install the ROS-by-Example code packages. The packages installed with this guide will add pre-made applications that have some new functionality as well as shared functionality with the already installed ROS packages. This tutorial as well as additional tutorials can be found in the ROS-By-Example book referenced in the 'External Links' section.
| rbx1_install.docx |
ROS Bringups:
The following document contains default bring up instructions for various applications used in this project. More bringup instructions can be found on the ROS Wiki. This tutorial is specific to default ROS packages only. Rbx1 application bringups will be referenced in another tutorial. These bring up instructions are for applications without any modifications made. Alternative bring up instructions for my altered code will be referenced in another tutorial.
| ros_default_bringups.docx |
Map Building & autonomous navigation with the slam algorithm:
The following document contains instructions on how to build a map using the SLAM Algorithm and the RViz application
| slam_map_building.docx |
The following document contains instructions on how to autonomously navigate a map AFTER you have built the map
| aut_nav.docx |
Joe Stawicki worked on this project in 2013. He gave a really good explanation of the data represented by the maps used in these two tutorials. Joe used actual web cam images from the Turtlebot combined with images of the maps he created. Joe's document is located here. The document is labled "Turtlebot Map Explanation".
RBx1 Applications:
The following document contains instructions on how to install prerequisites and bring up rbx1 applications used in this project. More bringup instructions can be found in the ROS-By-Example book. This tutorial is specific to rbx1 applications only. These bringups and applications run separately from the ROS applications referenced in the previous tutorial. These bring up instructions are for applications without any modifications made. Alternative bring up instructions for my altered code and combining these applications with ROS applications will be referenced in another tutorial.
| rbx1_prereqs_bringups.docx |
My Solutions and Changes:
The following document gives an introduction to my solution and explains my methodology and some testing. All the guides in this section assume you have researched and understand the basics of ROS and have completed all the previous tutorials.
| introduction_to_my_solution.docx |
The following document explains how to bring up and run my solution. This guide assumes you have replaced any original files with my altered ones. Files can be found in solution.zip below. Specific changes are recorded in the change log.
| mysolution_bringup.docx |
The following document contains details on the code changes I made
| change_log.docx |
The following zip file contains copies of the altered files referenced in the previous tutorials
| solution.zip |
Final Presentation Power Point:
| turtlebot_final_no_vids.pptx |
External sources:
ROS Wiki: http://wiki.ros.org/Robots/TurtleBot
Ros-By-Example Book: http://www.lulu.com/shop/r-patrick-goebel/ros-by-example-hydro-volume-1/ebook/product-21393108.html
Ros-By-Example Book: http://www.lulu.com/shop/r-patrick-goebel/ros-by-example-hydro-volume-1/ebook/product-21393108.html
Suggestions for future work:
| hints.docx |
Video demos:
Room Mapping Demo
Autonomous Navigation Demo
Voice Navigation and Following (My Solution) Demo