Merge pull request #593 from jmvega/TurtlebotReceipt

[Issue #592]: Receipt for running Turtlebot2 on ROS Melodic and Ubuntu 18.04

Author: jmplaza

docs/_pages/installation.md

@@ -19,7 +19,7 @@ Robotics-Academy currently supports **Linux** operating system. These installati
 
 2. *Specific infrastructure*
     - Optional, depends on the exercise
-    - Some exercises require also additional software pieces such as OpenCV, MoveIt!, MavROS, PX4, VisualStates, OpenMotionPlanningLibrary, etc.
+    - Some exercises require also additional software pieces such as OpenCV, MoveIt!, MavROS, PX4, VisualStates, OpenMotionPlanningLibrary, Turtlebot2, etc.
 
 3. *JdeRobot Academy source code*
     - Required
@@ -277,6 +277,102 @@ Install previous dependencies:
     source ~/.bashrc
     ```
 
+## Real Turtlebot2 on ROS Melodic
+
+0. Prerequisites
+- ROS Melodic on Ubuntu 18
+- Turtlebot2
+
+1. Build Turtlebot2 Workspace
+
+Firstly, `cd` to your catkin workspace. 
+
+If you don't have one, `cd` to somewhere you want to create it, and then run the following commands to create one
+```bash
+mkdir -p src
+catkin_make
+```
+
+Now run the following command (inside the root of catkin workspace) to build up running environment for Turtlebot2
+```bash
+curl -sLf https://raw.githubusercontent.com/gaunthan/Turtlebot2-On-Melodic/master/install_basic.sh | bash
+catkin_make
+```
+
+2. Bring Up Turtlebot2
+Now connect a turtlebot2 to the computer. After that, run this command to bring up the Turtlebot2
+```bash
+source ./devel/setup.bash
+roslaunch turtlebot_bringup minimal.launch
+```
+
+If nothing wrong, you will hear the Turtlebot2 give out a reminder.
+
+3. Test Turtlebot2
+If you want to use keyboard to control it, just run the following command
+```bash
+source ./devel/setup.bash
+roslaunch turtlebot_teleop keyboard_teleop.launch
+```
+
+And it will output something like this
+
+```bash
+ROS_MASTER_URI=http://localhost:11311
+
+process[turtlebot_teleop_keyboard-1]: started with pid [23757]
+
+Control Your Turtlebot!
+---------------------------
+Moving around:
+   u    i    o
+   j    k    l
+   m    ,    .
+
+q/z : increase/decrease max speeds by 10%
+w/x : increase/decrease only linear speed by 10%
+e/c : increase/decrease only angular speed by 10%
+space key, k : force stop
+anything else : stop smoothly
+
+CTRL-C to quit
+
+currently:	speed 0.2	turn 1 
+```
+
+Now you should be able to use keyboard to control your Turtlebot2.
+
+4. Asus Xtion
+
+Install dependencies:
+```bash
+sudo apt-get install ros-melodic-rgbd-launch ros-melodic-openni2-camera ros-melodic-openni2-launch
+sudo apt-get install ros-melodic-rqt ros-melodic-rqt-common-plugins ros-melodic-rqt-robot-plugins
+```
+
+Run these commands on three different terminals to test it:
+```bash
+roscore
+```
+```bash
+roslaunch openni2_launch openni2.launch
+```
+```bash
+rqt
+```
+
+In this last application, `rqt`, go to `Plugins` -> `Visualization` -> `Image view` -> `depth/image_raw` to view the camera depth raw data.
+
+5. RPLidar
+
+Just test it! Run these commands on two different terminals:
+```bash
+roscore
+```
+```bash
+roslaunch rplidar_ros view_rplidar.launch 
+```
+
 ## MoveIt!
 
 # Academy source code