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ROS TUTORIAL 3 - Electrical and Computer Engineering

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ECE 5463 Introduction to RoboticsSpring 2018ROS TUTORIAL 3Guillermo Castillo (Wei Zhang)Department of Electrical and Computer Engineering Ohio State University02/20182ECE5463 (Sp18)Outline Rviz(Ros Visualization) Rviz ROS TurtleBot3 Turtlebotcomponents laser sensor Installing TurtleBot3 Packages Exploring TurtleBot3 files (launch, world, URDF, XACRO) TurtleBot3 simulation Running TurtleBot3 simulation (launch files) Nodes and topics (current and needed) Getting laser data (python script) Rvizfor laser data visualization Goal: Make TurtleBot3 to move around avoiding obstaclesPrevious Steps3ECE5463 (Sp18)Rviz(Ros Visualization) Powerful 3D visualization tool for ROS. It allows the user to view the simulated robot model, log sensor information from the robot's sensors, and replay the logged sensor information.

ROS TUTORIAL 3 Guillermo Castillo (Wei Zhang) Department of Electrical and Computer Engineering Ohio State University 02/2018. 2 ECE5463 (Sp18) Outline ... (Simultaneous Localization and Mapping). •Light source: Semiconductor Laser Diode (λ=785nm) •Distance Range: 120 ~ 3,500mm

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