turtlebot_custom_description

ROS Catkin package to use different URDF configurations for the Turtlebot 2

Installation

1. Make your catkin workspace:
   1. mkdir -p ~/catkin_ws/src
   2. catkin_init_workspace ~/catkin_ws/src
   3. catkin_make -C ~/catkin_ws
2. Clone this repo to your workspace:
   1. git clone https://github.com/Dabit-Industries/turtlebot_custom_description ~/catkin_ws/src
3. Source your workspace
   1. source ~/catkin_ws/devel/setup.sh

Viewing the Robot Model

1. Run ROS core:
   1. roscore
2. Launch the robot model
   1. source ~/catkin_ws/devel/setup.sh
   2. roslaunch turtlebot_custom_description robot_model_.8m_tall.launch
3. Launch rviz
   1. source ~/catkin_ws/devel/setup.sh
   2. rosrun rviz rviz
4. Configure RVIZ
   
   

Robot Models

1. Turtlebot2 Kobuki Astra:
   
2. Turtlebot 1.2m tall:
   
3. Turtlebot Quanergy M8:
   

References

ROS WIKI URDF
ROS WIKI Xacro Reference