||<style="border: 1px solid black; background-color:#5bc0de; text-align: center; vertical-align:top;" tablewidth="100%">A few things changed from [[Robots/TurtleBot/hydro|hydro]] to [[Robots/TurtleBot/indigo|indigo]].||

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== ChangeLog ==

=== Navigation ===

The navigation underwent a major overhaul. This is probably the first time it's had a serious tuning since the turtlebot software first came out. We certainly never got around to it for hydro and so it was mostly running off defaults or initialisations from Turtlebot 1. See this [[http://blog.yujinrobot.com/2014/06/turtlebot-navigation-for-indigo.html|blog post]] for more details.

=== Interactions & Remocons ===

Indigo introduces new ways to ''interact'' with your turtlebot via qt and android remocons. 

You can find a quick guide to get started with the qt remocons in [[turtlebot/Tutorials/indigo/Interacting with your Turtlebot|Interacting with your Turtlebot]] and some tutorials about developing your own robot applications and interactions in [[turtlebot/Tutorials/indigo/Create your First Rapp|Create your First Rapp]] and [[turtlebot/Tutorials/indigo/Create your First Interaction|Create your First Interaction]].

Help on using the android remocon can be found in [[turtlebot/Tutorials/indigo/Android Interactions|Android Interactions]] and tutorials for developing android applications for the remocon is in the [[android|android corner]].

=== 3D Sensor ===

'''The default 3D sensor is now Asus Xtion Pro'''. 

Due to EOL of Microsoft Kinect, the default 3D sensor is now configured as Asus Xtion Pro. If you have used a Kinect for your !TurtleBot, please refer [[turtlebot/Tutorials/indigo/Kinect Setup|Kinect Setup]] for kinect configuration.

'''Supporting two locations for Asus Xtion Pro'''

Indigo supports two locations for Asus Xtion Pro(''asus_xtion_pro'' and ''asus_xtion_pro_offset''). ''asus_xtion_pro'' is a default configuration which locates the sensor at the center. ''asus_xtion_pro_offset'' is old asus xtion pro location which is slightly located on the right. It is to keep backward compatibility for previous distributions TurtleBot(hydro, groovy) that asus xtion pro are mounted. See [[https://github.com/turtlebot/turtlebot/pull/194|this pull request]] for more details. These are configurable via ''TURTLEBOT_3D_SENSOR'' environment variable.

'''Freenect as Kinect Driver''' 

While investigating kinect incompatibility issue for trusty, we found out that openni driver stop supporting Kinect. So we switched to use [[freenect_camera]] for Kinect. See [[https://github.com/turtlebot/turtlebot/issues/171|this issue]] for more details.


=== Environment Variables ===

Indigo !TurtleBot utilises environment variables to configure your TurtleBot settings. It allows you to configure your robot without modifying minimal.launch. See [[turtlebot/Tutorials/indigo/Customising the Turtle#Environment Variables|TurtleBot Environment Variables]] for more details.

=== Stage ===

!TurtleBot is now in stage simulation. [[stage]] is a 2D simulation tool which allows to experiment navigation stack quick and easy. See [[turtlebot_stage/Tutorials/indigo/Bring up TurtleBot in stage|TurtleBot Stage Tutorial]] to learn how to run !TurtleBot in stage.

Also note that [[turtlebot_gazebo/Tutorials/indigo/Explore the Gazebo world|TurtleBot Gazebo 3D Simulation]] is still available.

=== Multi-Turtlebot Implementation ===

!TurtleBot is now supported by multi-master system using [[rocon_concert|Concert framework]]. See [[turtlebot_concert|Turtlebot Concert]] package to setup ''concert(multi-master system)'' in your environment to teleoperate multiple turtlebots. 

== Known Issues ==

 * Gmapping demo for [[turtlebot_gazebo|TurtleBot Gazebo]] performs poorly to build a map of gazebo world. It needs [[https://github.com/turtlebot/turtlebot_apps/blob/indigo/turtlebot_navigation/launch/includes/gmapping.launch.xml|parameter]] tuning to improve the SLAM performance in gazebo.