Turtlebot moves a Rubik’s cube in V-REP

List of implemented topics in MATLAB©:

  • /arm_1_joint/command
  • /arm_2_joint/command
  • /arm_3_joint/command
  • /arm_4_joint/command
  • /arm_5_joint/command
  • /camera/depth/image
  • /camera/depth/image/compressed
  • /camera/rgb/omage_color
  • /camera/rgb/image_color/compressed
  • /camera/rgb/image_mono
  • /camera/rgb/image_mono/compressed
  • /gripper_1_joint/command
  • /mobile_base/commands/led1
  • /mobile_base/commands/led2
  • /mobile_base/commands/motor_power
  • /mobile_base/commands/reset_odometry
  • /mobile_base/commands/velocity
  • /mobile_base/controller_info
  • /mobile_base/sensors/core
  • /odom



We have completed the robot model in ROS. To incorporate the Widow-X arm on the Turtlebot platform, we have to include these lines in the xacro file:

<joint name="fixed" type="fixed">
<parent link="plate_top_link"/>
<child link="${prefix}arm_base_link"/>

And we have to add the Turtlebot library and the Turtlebot:

<xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_library.urdf.xacro"/>

<stack_hexagons parent="base_link"/>
<sensor_kinect  parent="base_link"/>


The figure shows CRUMB in Rviz and, similarly to Widow-X, we can use joint_state_publisher node to test the model.

The packages to simulate Widow-x and CRUMB will be uploaded soon 🙂

How to simulate Turtlebot in Ros/Gazebo?

To simulate Turtlebot platform in Ros Indigo/Gazebo, we have to install turtlebot packages:

sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs

When the installation finishes, write in the terminal:
source /opt/ros/indigo/setup.bash
roslaunch turtlebot_gazebo turtlebot_world.launch


And, to move the Turtlebot model, open a new terminal and write:
source /opt/ros/indigo/setup.bash
roslaunch turtlebot_teleop keyboard_teleop.launch


First steps with ROS

In this first post we have simulated Widow-X arm in ROS/Indigo. There are several simulators available in ROS, for instance:

MoveIt!, which is a motion planning.

Stage, very useful to 2D navigation.

Gazebo, tool to test algorithms and design robots.

Rviz, tool to visualize the robots.

For this project Gazebo has been selected with its recommended version for Indigo, Gazebo 2.X. If you are not using Indigo, take a look to this web to know which Gazebo version you need.

The model and its home position are shown in the following figures.

brazo_reposo brazo_home