#################################### ##FILL ME IN #################################### ## for a custom note with links: ## note = ## for the canned note of "This tutorial assumes that you have completed the ## previous tutorials:" just add the links ## note.0.link=[[turtlebot/Tutorials/indigo/TurtleBot Bringup|TurtleBot Bringup]] ## descriptive title for the tutorial ## title = Adding New 3D Sensor ## multi-line description to be displayed in search ## description = Add support for a new 3D sensor to the turtlebot stack. ## next.0.link=[[turtlebot/Tutorials/indigo/Adding a lidar to the turtlebot using hector_models (Hokuyo UTM-30LX)|Adding a lidar to the turtlebot]] ## next.1.link= ## what level user is this tutorial for ## level= IntermediateCategory ## keywords = turtlebot camera 3D sensor #################################### <<IncludeCSTemplate(TutorialCSHeaderTemplate)>> ## AUTOGENERATED DO NOT DELETE ## TutorialCategory ## FILL IN THE STACK TUTORIAL CATEGORY HERE <<TOC(4)>> == Goal == The goal of this tutorial is to describe the steps necessary for a developer to add support for a new 3D sensor to the turtlebot stack. == 3D Sensor Driver Package == This tutorial assumes you have a 3D sensor driver package that emulates the standard ROS camera API, like [[openni_camera]] or [[freenect_camera]]. The standard pattern is to have a driver in a package named '''<TURTLEBOT_3D_SENSOR>_camera''' (e.g., astra_camera) and a launch package with runtime dependencies on this driver package named '''<TURTLEBOT_3D_SENSOR>_launch''', which includes a launch file for bringing up the sensor with a standard layout. == Turtlebot Bringup == There are several changes you will need to make to the [[turtlebot_bringup|turtlebot bringup]] package to add support. === Launch Files === You will need to create a launch file for your 3D sensor called '''<TURTLEBOT_3D_SENSOR>.launch.xml''' in the ''turtlebot_bringup/launch/includes/3dsensor/'' directory. This launch file will likely include the standard bring-up launch file from your sensor's driver launch package (mentioned above). See the other existing 3D sensor launch files in this directory for examples. === URDF Files === In order for you to visualize your sensor on the turtlebot in rviz, you will need to add URDF files into the [[turtlebot_description|turtlebot description]] package. Add a sensor description file called '''<TURTLEBOT_3D_SENSOR>.urdf.xacro''' in the ''turtlebot_description/urdf/sensors/'' directory. This file should describe the location and shape of your camera, and include any visualization meshes (located in ''turtlebot_description/meshes/sensors/'') that you wish to include. See the other existing 3D sensor URDF files for examples. Add a top-level robot description URDF xacro file called '''<TURTLEBOT_BASE>_<TURTLEBOT_STACKS>_<TURTLEBOT_3D_SENSOR>.urdf.xacro''' in the ''turtlebot_description/robots/'' directory. The values for these need to match the values users will set in the corresponding environment variables. Follow the examples in this directory for how to include the '''turtlebot_description/urdf/turtlebot_library.urdf.xacro''' file. Lastly, modify the '''turtlebot_description/urdf/turtlebot_library.urdf.xacro''' file to include a link to the 3D sensor urdf.xacro file you created above. === Package Files === If you intend to upstream support for this sensor, modify the '''turtlebot_bringup/package.xml''' file to include a run-time dependency on your 3D sensor's driver package. == Turtlebot Navigation == There are several changes you will need to make to the [[turtlebot_navigation|turtlebot navigation]] package to add support. === Parameter Files === In order for your sensor to perform optimally, you will need too add a costmap parameter file. See the other existing 3D sensor parameter files for examples. Add a yaml file called '''<TURTLEBOT_3D_SENSOR>_costmap_params.yaml '''to the ''turtlebot_apps/turtlebot_navigation/param/'' directory. === Launch Files === You will need to add your sensor specific launch files for gmapping and amcl. See the other existing 3D sensor launch files in this directory for examples. Add a gmapping launch file called '''<TURTLEBOT_3D_SENSOR>_gmapping.launch.xml '''to the ''turtlebot_apps/turtlebot_navigation/l''''aunch/includes/gmapping ''''''''directory. ''' '''Add an amcl launch file called '''<TURTLEBOT_3D_SENSOR>_amcl.launch.xml '''to the ''turtlebot_apps/turtlebot_navigation/launch/includes/amcl'' directory. '''