turtlebot3c gives life to your TurtleBot3 robot (https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/).
It is a collection of launch files and configuration files to ease working with the TurtleBot3. The snap is meant to be run on the robot, allowing one to quickly get up and running with a self contained Turtlebot3. It offers 5 main applications,
core: is a daemon that is automatically started when the robot is turned on. It starts the motor controller, advertises the sensors, upload the robot model to the rosparam server and publishes the robot tf tree. At boot, the robot is simply ready to be used.
teleop: is a daemon that is automatically started when the robot is turned on. It allows for controlling the robot from multiple sources such as the keyboard (e.g. key_teleop), a remote controller (e.g. joy_teleop) or leave it to the navigation stack. The cmd input to be used is managed by the mux node. It can be changed through a rosservice call such as,
rosservice call /mux/select "topic: 'joy_vel'"
joy: allows for connecting a (third party) remote controller directly to the robot in order to drive it.
mapping: allows the robot to build a representation of its environment as a map usable by the navigation stack.
Drive your robot around in order to map your environment. Once done, stop the mapping by pressing ctrl+c. This will stop the process and automatically save the map as $SNAP_USER_DATA/.tb3c/maps/<date_and_time>/map.yaml. Furthermore, a softlink to the newly created map is created at $SNAP_USER_DATA/.tb3c/maps/config. The navigation stack will automatically use the softlinked map.
navigation: encompasses the whole autonomous navigation stack. It allows the robot to move autonomously in its environment, from its current location to a desired goal while avoiding obstacles. It automatically uses the last map built with the mapping app found at $SNAP_USER_DATA/.tb3c/maps/config.
Find out more details on the turtlebot3c repo at https://github.com/canonical/turtlebot3c.
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Snaps are applications packaged with all their dependencies to run on all popular Linux distributions from a single build. They update automatically and roll back gracefully.
Snaps are discoverable and installable from the Snap Store, an app store with an audience of millions.
Snap can be installed from the command line on openSUSE Leap 15.x and Tumbleweed.
You need first add the snappy repository from the terminal. Leap 15.5 users, for example, can do this with the following command:
sudo zypper addrepo --refresh https://download.opensuse.org/repositories/system:/snappy/openSUSE_Leap_15.5 snappy
Swap out openSUSE_Leap_15.5 for openSUSE_Leap_15.4 or openSUSE_Tumbleweed if you’re using a different version of openSUSE.
With the repository added, import its GPG key:
sudo zypper --gpg-auto-import-keys refresh
Finally, upgrade the package cache to include the new snappy repository:
sudo zypper dup --from snappy
Snap can now be installed with the following:
sudo zypper install snapd
You then need to either reboot, logout/login or source /etc/profile to have /snap/bin added to PATH.
Additionally, enable and start both the snapd and the snapd.apparmor services with the following commands:
sudo systemctl enable --now snapd
sudo systemctl enable --now snapd.apparmor
To install turtlebot3c, simply use the following command:
sudo snap install turtlebot3c
Browse and find snaps from the convenience of your desktop using the snap store snap.
Interested to find out more about snaps? Want to publish your own application? Visit snapcraft.io now.