• launch/minimal.launch
  • • base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
    • battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
    • stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
    • 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
    • simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
    • serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
• launch/3dsensor.launch
  • Turtlebot is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
  • • camera [default: camera]
    • publish_tf [default: false]
    • 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)]
    • depth_registration [default: true]
    • rgb_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • scan_processing [default: true]
    • num_worker_threads [default: 4]
    • scan_topic [default: scan]
• launch/concert_client.launch
  • • base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
    • battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
    • stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
    • 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
    • simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
    • serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
    • robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
    • robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
    • rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
    • rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
    • rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
    • rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
    • robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
    • rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
    • robot_description [default: Kick-ass ROS turtle] — user friendly robot description.
    • capabilities [default: true] — start and register an underlying capability server
    • capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
    • capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
    • capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
    • interactions [default: false] — start an interactions manager
    • interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
    • robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manually guarantee unique names for multimaster'ing)
    • concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
    • local_machine_only [default: false] — connect only to multimaster hubs (concerts) on the local machine (testing option)
    • concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
    • firewall [default: false] — block people from flipping (registering topics) on this master.
• launch/concert_minimal.launch
  • • base [default: $(env TURTLEBOT_BASE)] — mobile base type [create, roomba]
    • battery [default: $(env TURTLEBOT_BATTERY)] — kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels.
    • stacks [default: $(env TURTLEBOT_STACKS)] — stack type displayed in visualisation/simulation [circles, hexagons]
    • 3d_sensor [default: $(env TURTLEBOT_3D_SENSOR)] — 3d sensor types [kinect, asux_xtion_pro]
    • simulation [default: $(env TURTLEBOT_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
    • serialport [default: $(env TURTLEBOT_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
    • robot_name [default: $(env TURTLEBOT_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
    • robot_type [default: $(env TURTLEBOT_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
    • rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
    • rapp_auto_start [default: ] — pick an app to autostart, e.g. 'rocon_apps/talker'
    • rapp_package_whitelist [default: $(env TURTLEBOT_RAPP_PACKAGE_WHITELIST)] — a list of catkin packages that provide rapps to be loaded by the app manager.
    • rapp_package_blacklist [default: $(env TURTLEBOT_RAPP_PACKAGE_BLACKLIST)] — a list of catkin packages to blacklist from providing rapps.
    • rapp_preferred_configuration_file [default: $(find turtlebot_bringup)/param/preferred_rapp.yaml] — a configuration of preferred rapps
    • robot_icon [default: turtlebot_bringup/turtlebot2.png] — passed to user interfaces to socialise the turtlebot's appearance
    • rapp_verbose [default: true] — show verbose output from running apps (aka roslaunch --screen)
    • robot_description [default: Kick-ass ROS turtle]
    • capabilities [default: true] — start and register an underlying capability server
    • capabilities_server_name [default: capability_server]
    • capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
    • capabilities_parameters [default: $(find turtlebot_bringup)/param/capabilities/defaults_tb2.yaml] — preload the capability server with this configurations
    • capabilities_package_whitelist [default: [kobuki_capabilities, std_capabilities, turtlebot_capabilities]] — register capabilities from these packages only
    • capabilities_blacklist [default: ['std_capabilities/Navigation2D', 'std_capabilities/MultiEchoLaserSensor']] — blacklist these specific capabilities from being registered
    • interactions [default: true] — start an interactions manager
    • interactions_list [default: $(env TURTLEBOT_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
    • zeroconf [default: true] — publish the master information on zeroconf
    • zeroconf_port [default: 11311] — port number of the ros master
• launch/includes/robot.launch.xml
  • Collection of robot-centric definitions and nodes for the turtlebot.
  • • base
    • stacks
    • 3d_sensor
• launch/includes/roomba/mobile_base.launch.xml
  • Create's implementation of turtlebot's mobile base.
  • • serialport
    • manager [default: none]
• launch/includes/netbook.launch.xml
  • Netbook battery monitor
  • • battery
• launch/includes/zeroconf.launch.xml
• launch/includes/capabilities.launch.xml
  • Launch capability server with default providers
  • • base
    • 3d_sensor
    • test_case [default: minimal]
    • debug [default: false]
• launch/includes/description.launch.xml
  • Robot description only (used in private and paired master).
  • • base
    • stacks
    • 3d_sensor
    • urdf_file [default: $(find xacro)/xacro --inorder '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
• launch/includes/3dsensor/astra.launch.xml
  • • camera [default: camera]
    • publish_tf [default: false]
    • depth_registration [default: true]
    • rgb_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • scan_processing [default: true]
    • num_worker_threads [default: 4]
• launch/includes/3dsensor/r200.launch.xml
  • • camera [default: camera]
    • publish_tf [default: false]
    • depth_registration [default: false]
    • rgb_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • scan_processing [default: true]
    • num_worker_threads [default: 4]
• launch/includes/3dsensor/kinect.launch.xml
  • • camera [default: camera]
    • publish_tf [default: false]
    • depth_registration [default: true]
    • rgb_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • scan_processing [default: true]
    • num_worker_threads [default: 4]
• launch/includes/3dsensor/asus_xtion_pro.launch.xml
  • • camera [default: camera]
    • publish_tf [default: false]
    • depth_registration [default: true]
    • rgb_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • scan_processing [default: true]
    • num_worker_threads [default: 4]
• launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
  • • camera [default: camera]
    • publish_tf [default: false]
    • depth_registration [default: true]
    • rgb_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • scan_processing [default: true]
    • num_worker_threads [default: 4]
• launch/includes/create/mobile_base.launch.xml
  • Create's implementation of turtlebot's mobile base.
  • • serialport
    • manager [default: none]
• launch/includes/mobile_base.launch.xml
  • The mobile platform base. Selector for the base.
  • • base
    • serialport
• launch/includes/kobuki/bumper2pc.launch.xml
  • Loads the bumper/cliff to pointcloud nodelet on mobile_base_nodelet_manager. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
• launch/includes/kobuki/safety_controller.launch.xml
• launch/includes/kobuki/mobile_base.launch.xml
  • Kobuki's implementation of turtlebot's mobile base.
  • • serialport
    • manager

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