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On TURTLEBOT:
1.
Before turning on Turtlebot laptop, make sure the USB cables are
disconnected.
2.
Turn on Turtlebot laptop (pw: turtlebot)
3.
Connect to turtlebot_network wireless network. If not found, look in
Connect to Hidden Wireless Network.
4.
Make sure ROS is running;
a.
Open a Terminal
b.
Execute the following;
>rostopiclist
c. If a whole list of items come up, then ROS is already running. Please
proceed.
d. If not (say only 2 items or an ERROR come up), do this (ONLY if ROS is
not running yet);
>roslaunchturtlebot_bringupminimal.launch
5.
Close the laptop lid and slide the laptop into the Turtlebot. Connect the
USB cables (do not use the USB 3.0 port).
On the WORKSTATION:
1.
Turn the laptop boros on (pw: boros), and connect to turtlebot_network.
2.
Make sure ROS is running;
a.
Open a Terminal and execute the following;
>rostopiclist
b. If a whole list of items come up, then ROS is already running. Please
proceed.
c. If and ERROR come up, make sure that the workstation is already
connected to turtlebot_network.
3.
To start making maps using the gmapping demo app, execute the
following;
a.
in a new Terminal run gmapping;
>sshturtlebot@turtlebot
>roslaunchturtlebot_navigationgmapping_demo.launch
f.
5.
Turn the gmapping and RVIZ off by clicking Ctrl+C in their respective
Terminal windows.
In RVIZ
Localize the TurtleBot
When starting up, the TurtleBot does not know where it is. To provide him its
approximate location on the map:
1. Click the "2D Pose Estimate" button
2. Click on the map where the TurtleBot approximately is and drag in the
direction the TurtleBot is pointing.
You will see a collection of arrows which are hypotheses of the position of the
TurtleBot. The laser scan should line up approximately with the walls in the
map. If things don't line up well you can repeat the procedure.
Teleoperation
The teleoperation can be run simultaneously with the navigation stack. It will
override the autonomous behavior if commands are being sent. It is often a
good idea to teleoperate the robot after seeding the localization to make sure it
converges to a good estimate of the position.
From <http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in
%20a%20known%20map>