This is the main software repository for the turtlebot3 simulation.

• For extensive technical documentation, please refer to aprilTag

You should git pull everytime before you push a new commit!

pass: ubuntu 16.04.2 ROS version: kinetic Gazebo 8 git clone https://github.com/YuehChuan/tb3_aprilTag.git

To compile the code,

cd ~/tb3_aprilTag
catkin_make
cd ..
source environment.sh

For aprilTag, make sure you have comiled shared library follow these steps:

cd tb3_aprilTag/software/apriltags-cpp
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make
sudo make install

more details for aprilTag https://github.com/xenobot-dev/apriltags_ros

my camera: PS3eye_webcam aprilTag size 165mm

open 3 terminal

terminal 1

cd ~/tb3_aprilTag/

source environment.sh

rostopic echo /apriltags/detections
roslaunch apriltags usb_cam_apriltags.launch
rosrun tags_sub tags_sub

terminal 2

cd ~/tb3_aprilTag/

source environment.sh

rosrun tags_sub tags_sub

rostopic echo /apriltags/detections is the detection array

rqt_multiplot_plugin is develop by ETH zurich ASL, it is an usefultool to visualize rostopic. Espectially, 2D plot. (x-t, y-t, theta-t, x-y)

more details and tutorial: https://github.com/ethz-asl/rqt_multiplot_plugin

sudo apt-get update
sudo apt-get install ros-kinetic-rqt-multiplot

Run turtlebo3 gazebo simulation, and rviz to see topics. Use rqt_multiplot_plugin to see topic like x,y position.

for turtlebot3 simultion details, see here: https://turtlebot3.readthedocs.io/en/latest/simulation.html

open 4 terminal

do 4 command strongly use byobu or terminator for your convinience.

roslaunch turtlebot3_gazebo turtlebot3_world.launch

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch

rosrun rqt_multiplot rqt_multiplot

open rqt_multiplot_plugin preconfig file: ~/tb3_aprilTag/catkin_ws/src/tb3_multiplot.xml

terminal 1

cd ~/tb3_aprilTag/

source environment.sh

roslaunch turtlebot3_gazebo turtlebot3_world.launch

terminal 2

cd ~/tb3_aprilTag

source environment.sh

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

terminal 3

cd ~/tb3_aprilTag

source environment.sh

roslaunch turtlebot3_gazebo turtlebot3_world.launch

terminal 4

cd ~/tb3_aprilTag

source environment.sh

rosrun rqt_multiplot rqt_multiplot

Launch gazebo world then insert aprilTag models(tag0, Tag1, Tag2, Tag3) launch aprilTag detect node

terminal 1

cd ~/tb3_aprilTag/

source environment.sh

roslaunch turtlebot3_gazebo turtlebot3_world.launch

Launch gazebo world

terminal 2

cd ~/tb3_aprilTag/

source environment.sh

roslaunch apriltags gazebo_cam_apriltags.launch

see virtual aprilTag detection

terminal 3

cd ~/tb3_aprilTag/

source environment.sh

rostopic echo /apriltags/detections

please leave issue in issue if you got problem build these.

Have fun!

also, Contribution welcome!

add noise for aprilTag in gazebo even white noise or render the object by raytracing.

The workflow is as follows.

(1) You make a private branch, say your name-devel.

(2) You work on your branch.

(3) You push often to your branch.

(4) Create a “pull request”. You can do this by going to the Github page for your branch and click on the button “compare and pull request” .