TurtleBot
TurtleBot combines popular off-the-shelf robot components like the iRobot Create, Yujin Robot's Kobuki, Microsoft's Kinect and Asus' Xtion Pro into an integrated development platform for ROS applications. For more information about hardware, please see http://turtlebot.com.
TurtleBot結合了流行的現成的機器人組件，像iRobot Create（底盤），Yujin Robot的Kobuki，微軟的Kinect（感應器）和Asus的Xtion Pro（體感設備），從而組成了一個ROS應用開發平台。對於關於硬件的更多信息，請看：http://turtlebot.com。
BDFLs（Benevolent Dictator for Life）: Tully Foote (OSRF), Melonee Wise (Fetch Robotics)
ROS SW Maintainers: Michael Ferguson (Fetch Robotics), Tully Foote (OSRF), JihoonLee (Yujin Robot), Daniel Stonier (Yujin Robot)
Recently overhauled entire tutorial for indigo (24/03/15).最近大修完全教程為indigo（24/03/15）。
1. 概況
Migration - what's new and shiny in your indigo turtlebot software!
遷移：在你的indigo turtlebot軟件中什么是新的和閃亮的？：http://wiki.ros.org/Robots/TurtleBot/indigo/Migration
2. 關於
- Turtlebot-Developer Habitats TurtleBot開發者園地
Various usage scenarios for turtlebots and their developers.對於turtlebot和它的開發者多樣的用途全景：http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot-Developer%20Habitats
- Interacting with your Turtlebot 和你的Turtlebot交互
The many ways you can provoke/inspire your turtlebot to action! 你可以使用多種方法來激起/激發你的turtlebot運動起來！：http://wiki.ros.org/turtlebot/Tutorials/indigo/Interacting%20with%20your%20Turtlebot
3.准備
- Turtlebot Installation Turtlebot安裝
Installing software onto the turtlebot.向turtlebot上安裝軟件。：http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation
- PC Installation PC安裝
Installing the software for your monitoring workstation pc.為監控站PC安裝軟件 ：http://wiki.ros.org/turtlebot/Tutorials/indigo/PC%20Installation
- Network Configuration 網絡設置
Get turtlebot and your pc chatting to each other.使turtlebot和你的PC相互交流 ：http://wiki.ros.org/turtlebot/Tutorials/indigo/Network%20Configuration
4.開始
- TurtleBot Bringup TurtleBot開始
How to start the TurtleBot software.開始TurtleBot軟件：http://wiki.ros.org/turtlebot_bringup/Tutorials/indigo/TurtleBot%20Bringup
- PC Bringup PC開始
Connecting to the turtlebot from the PC.從PC連接turtlebot：http://wiki.ros.org/turtlebot_bringup/Tutorials/indigo/PC%20Bringup
- TurtleBot Care and Feeding TurtleBot維護和充電
This tutorials explains how to charge and maintain your TurtleBot.該教程解釋了如何為你的TurtleBot充電和維護。
- Create Odometry and Gyro Calibration 創建測程和陀螺儀校正
![/!\](/image/aHR0cDovL3dpa2kucm9zLm9yZy9tb2luX3N0YXRpYzE5Ny9yb3N0aGVtZS9pbWcvYWxlcnQucG5n.png "/!\")
This is only necessary if you have a Create base. The Kobuki comes with a factory calibrated gyro. This will show you how to calibrate or test the calibration of a TurtleBot which is highly recommended when running any navigation based application.只有當你有一個Create基盤的話這是需要的。Koburi帶有一個工廠校准的陀螺儀。這將向你展示如何校准或測試TurtleBot校准，這是非常建議的如果運行任何導航應用的話。
5.應用
1）四處看看
- A First Interaction 第一個交互
Run your first interaction with the turtlebot - chatter!運行你的第一個turtlebot交互——chatter!：http://wiki.ros.org/turtlebot/Tutorials/indigo/A%20First%20Interaction。
- Visualisation 可視化
Find and call launchers to visualise the turtle and its data streams.尋找並呼叫啟動器來可視化turtle和它的數據流。
- 3D Visualisation 3D可視化
Visualising 3d and camera data from the kinect/asus.來自kinect/asus的3D可視化和相機數據
2）遙控操作
- Keyboard Teleop 鍵盤遙控操作turtlebot
Keyboard teleoperation of a turtlebot.turtlebot的鍵盤遙控操作。：http://wiki.ros.org/turtlebot_teleop/Tutorials/indigo/Keyboard%20Teleop
- Joystick Teleop Joystick遙控操作
Joystick teleoperation of a turtlebot.turtlebot的Joystick遙控操作。：http://wiki.ros.org/turtlebot_teleop/Tutorials/indigo/Joystick%20Teleop
- Qt Teleop Qt的遙控操作
Qt teleoperation of a turtlebot. turtlebot的Qt遙控操作：http://wiki.ros.org/rocon_qt_teleop/Tutorials/indigo/Qt%20Teleop%20a%20turtlebot
- Interactive Markers Teleop 交互標記遙控操作
A tutorial describing how to use rviz interactive markers for controlling the TurtleBot. 一個描述如何使用rviz交互標記操作turtlebot的教程。
3）導航
- SLAM Map Building with TurtleBot 使用TurtleBot進行SLAM地圖構建
How to generate a map using gmapping 如何使用gmapping生成一個地圖：http://wiki.ros.org/turtlebot_navigation/Tutorials/indigo/Build%20a%20map%20with%20SLAM
- Autonomous Navigation of a Known Map with TurtleBot 使用TurtleBot一個已知地圖的同步導航
This tutorial describes how to use the TurtleBot with a previously known map. 該教程描述了如何使用TurtleBot在一個已知地圖上。
4）一些有趣的事
- The TurtleBot Follower Demo TurtleBot跟隨者Demo
This describes how to run the TurtleBot Follower Demo on your TurtleBot. 這個描述了如何在你的TurtleBot上運行TurtleBot跟隨者Demo。
- The TurtleBot Panorama Demo TurtleBotDemo TurtleBot全景圖Demo
This describes how to run the TurtleBot Panorama Demo on your TurtleBot. 這個描述了如何在你的TurtleBot上運行TurtleBot全景圖Demo。
5）Android交互
- Download Turtlebot Android Apps from Play Store 從Play Store上下載Turtlebot Android Apps
Download android apps from Play Store to run turtlebot rapps on your turtlebot via android device 從Play Store上下載android apps在你的turtlebot上通過android設備運行turtlebot apps。
- How to Run Turtlebot Andorid Application 如何運行Turtlebot Android程序
Instructions how to run turtlebot android application 關於如何運行turtlebot android程序的指導教程。
- Turtlebot Android Application Dev Tutorial Turtlebot Android程序開發教程
Instructions how to develop turtlebot android app 關於如何開發turtlebot android程序的指導教程
6. 模擬
1）舞台
- TurtleBot in Stage Simulator 在舞台模擬器中的TurtleBot
How to start turtlebot stage simulation 如何開始turtlebot舞台模擬
- Customizing the Stage Simulator 自定義舞台模擬器
Explains how to use your own map with the stage simulator for turtlebot and adjust configurations for your needs 解釋如何使用為turtlebot舞台模擬器的你自己的地圖，然后調整位置滿足你的需要
2）眺望台
- Gazebo Bringup Guide 眺望台調試指導
See the simulated turtlebot in Gazebo. 在眺望台看模擬的turtlebot。
- Explore the Gazebo world 探究Gazebo世界
Cruise around in the Gazebo world and use RViz to "see" what's in it. 在Gazebo世界瀏覽，使用RViz來“看”里面有什么。
- Make a map and navigate with it 制作一張地圖並用它導航
Use the navigation stack to create a map of the Gazebo world and start navigation based on it. 使用導航stack棧來創建一張Gazebo世界的地圖，然后基於它開始導航
7. 開發角
- Customising the Turtle 自定義Turtle
Pre-load your own customisations/configuration on the turtle. 在turtle上預加載你自己的定制/配置。
- Create your First Rapp 創建你的第一個Rapp
Create, load and execute a 'babbler' rapp, and, is it really worth the effort? 創建，加載然后執行一個'babbler'rapp，是不是很值得努力呢？
- Create your First Interaction 創建你的第一個交互
Create, load and execute a 'babbler' interaction. 創建，加載並執行一個'babbler'交互。
- Adding New 3D Sensor 添加新的3D傳感器
Add support for a new 3D sensor to the turtlebot stack. 支持向turtlebot棧上添加一個新的3D傳感器。
Tutorials describing how to develop android interactions can be found in the android corner.
描述如何開發android交互的教程可以在android corner找到：http://wiki.ros.org/android%20corner。
8.附錄
（1）Rocon QT App管理器
- Start Rapp with QT App manager 開始使用QT App管理器的Rapp
How to start implementation rapps with Rocon Qt App manager 如何通過Rocon Qt App管理器開始使用rapp
（2）多TurtleBot協調
Teleop Concert 遙控協同
Teleoperate multiple turtlebots! 遙控操作多個turtlebots!
- TurtleBot Concert Bringup TurtleBot協同嘗試
how to start the turtlebot concert 如何開始turtlebot協同
- Bring up Turtlebot as Concert Client 用Turtlebot作協同客戶端
how to start the turtlebot concert 如何開始turtlebot協同
- Teleop a turtlebot via Concert 通過協同遙控操作一個turtlebot
how to teleoperate turtlebot in concert 如何在協同中遙控操作turtlebot
（3）其他資源
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Turtlebot Quick Start Tutorials - Gaitech EDU Portal Turtlebot快速開始教程 - Gaitech EDU Portal：http://edu.gaitech.hk/turtlebot/turtlebot-tutorials.html
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learn.turtlebot.com learn.turtlebot.com：http://learn.turtlebot.com/
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Getting Start TurtleBot with Matlab 讓我們使用Matlab開始TurtleBot：http://mathworks.com/help/robotics/examples/getting-started-with-a-real-turtlebot.html
地址：http://wiki.ros.org/Robots/TurtleBot