Overview

This is a fork of ROBOTIS-GIT/turtlebot3. This publish-analog-pins branch extends the turtlebot3_node to broadcast data collected by the OpenCR analog pins A0-A5 to a ROS 2 topic /analog_pins. The main branch is kept in sync with the ROBOTIS repository.

This repo is part of the larger project ez-turtlebot3, which combines this repo with analog-enabled OpenCR firmware and a ROS 2 analog processor package to read, process, and publish analog data while operating a TurtleBot3.

Requirements

• ROS 2 Humble
• Analog-enabled TurtleBot3 ROS 2 OpenCR firmware

Installation

1. If you haven't already, follow the Humble instructions for the TurtleBot3 SBC setup
2. Replace the turtlebot3 repo with the analog-enabled fork

• cd ~/turtlebot3_ws/src
• rm -rf turtlebot3
• git clone https://github.com/ez-turtlebot3/turtlebot3

3. Rebuild the turtlebot3_node

• cd ~/turtlebot3_ws
• colcon build --packages-select turtlebot3_node

Use

1. Launch the TurtleBot with the same bringup command as before

• ros2 launch turtlebot3_bringup robot.launch.py

2. View the /analog_pins topic from your remote pc with

• ros2 topic echo /analog_pins

3. Optionally, install the ROS 2 analog processor package to process the raw data from /analog_pins.
4. Recommendation: view real-time data in plots with PlotJuggler

ROBOTIS links

Official Documentation

• ⚙️ ROBOTIS DYNAMIXEL
• 📚 ROBOTIS e-Manual for Dynamixel SDK
• 📚 ROBOTIS e-Manual for TurtleBot3

Community & Support

• 💬 ROBOTIS Community Forum
• 💬 TurtleBot category from ROS Community