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Lars-33 / masteruia

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Making cutom params file to for turtlebot #5

Closed Lars-33 closed 1 year ago

Lars-33 commented 1 year ago

WHen husky and TB is on the same wifi they publish to the same odometry, to solve this the TB should publish odometry to /odomTB

Update : i think i need to make a launch file to solve this problem the custom parmas file work like this: ros2 launch turtlebot3_bringup robot.launch.py tb3_param_dir:=/home/jetson/tb_ws/param/waffle.yaml

TBlaunch

Lars-33 commented 1 year ago

Test setup

Terminal 1: source /opt/ros/foxy/setup.bash rqt

Terminal 2: source /opt/ros/foxy/setup.bash export TURTLEBOT3_MODEL=waffle sudo chmod a+rw /dev/ttyACM0 ros2 launch turtlebot3_bringup robot.launch.py tb3_param_dir:=/home/jetson/tb_ws/param/waffle.yaml

Terminal 3: source /opt/ros/foxy/setup.bash export TURTLEBOT3_MODEL=waffel ros2 run turtlebot3_teleop teleop_keyboard

Terminal 4: source /opt/ros/foxy/setup.bash ros2 topic echo /

Lars-33 commented 1 year ago

It seems like the command : ros2 launch turtlebot3_bringup robot.launch.py tb3_param_dir:=/home/jetson/tb_ws/param/waffle.yaml change the params file but do not change under what topic name the odometry gets published under, i cant change it from /odom

odomfalse

tf_true

imutrue

TBodom

Lars-33 commented 1 year ago

the "frame_id" changes the "Fixed Frame" in rviz2

the problem is still that the topic name needs to be change if this is passable

Update: based on this https://github.com/cartographer-project/cartographer_ros/issues/1447#issuecomment-601546423 i will try to make a launch file to remap the topics publisheed on the turtlebot so they dont interfere with the husky topics