turtlebot2_demo
A collection of ROS 2 demonstration packages for the TurtleBot 2 platform, including teleoperation, following, mapping, and localization.
What is turtlebot2_demo?
turtlebot2_demo is a collection of demonstration packages that enable the TurtleBot 2 mobile robot to run on ROS 2 (Robot Operating System 2). It provides core robotics functionalities like teleoperation, object following, environment mapping, and localization, serving as a migration example from ROS 1 to the newer ROS 2 framework. The project solves the problem of adapting existing TurtleBot 2 hardware and software to work with ROS 2's improved middleware and architecture.
Robotics developers and researchers working with TurtleBot 2 platforms who want to migrate their applications to ROS 2, or those learning ROS 2 through practical mobile robot examples.
Developers choose this project because it provides working, tested examples of key robotics applications on ROS 2, demonstrates multiple code porting strategies from ROS 1, and serves as an official reference implementation from the ROS 2 development team.
Overview
This repository provides a suite of demonstration applications for the TurtleBot 2 mobile robot using the ROS 2 (Robot Operating System 2) framework. It serves as a critical step in migrating robotics functionality from ROS 1 to the newer ROS 2 ecosystem, showcasing different porting strategies for existing components.
Key Features
- Joystick Teleoperation — Control the TurtleBot 2 using a gamepad controller for manual driving.
- Follower Demo — Uses an Orbbec Astra depth camera to detect and follow objects in the environment.
- Cartographer Mapping — Integrates Google Cartographer for real-time 2D SLAM (Simultaneous Localization and Mapping).
- AMCL Localization — Provides Adaptive Monte Carlo Localization for robot positioning within a known map.
- Multi-Approach Porting — Demonstrates four different techniques for migrating ROS 1 code to ROS 2, serving as a reference for developers.
Philosophy
The project is a practical exploration of ROS 2 migration, intentionally using multiple implementation strategies to discover best practices for porting robotics software from the ROS 1 ecosystem.
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