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Note: This tutorial assumes that you have completed the previous tutorials: TurtleBot Bringup, PC Bringup.
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

A First Interaction

Description: Run your first interaction with the turtlebot - chatter!

Keywords: turtlebot

Tutorial Level: BEGINNER

Next Tutorial: Visualisation

About

We are going to start a talker-listener pair over the robot-pc connection as described in the Interacting with your Turtlebot tutorial.

Robot

Bootstrap the turtle, i.e. launch minimal.

PC

Installation

Install rocon_remocon to use rocon_remocon and rqt_remocon

  > sudo apt-get install ros-indigo-rocon-remocon ros-indigo-rocon-apps

RQT Remocon

> rqt_remocon

remocon_roles.png

remocon_rapps.png

This begins a talker on the robot and a listener on the pc.

remocon_chatter.png

Rocon Remocon

The rocon remocon gives you the ability to connect to the running turtlebot and run the same interactions from a different master. It basically sandboxes an environment with ROS_MASTER_URI/ROS_HOSTNAME configured to the turtelbot's settings and runs whatever pc side applications need to be run (roslaunch/rosrun/chrome/qt app) inside that sandbox.

Note: This is not true multimaster as you are still running components in a sandboxed environment locked into to the turtlebot's master. It does however let you discover/cache your robot uri's and let you run without having to continually reset your ROS_MASTER_URI/ROS_HOSTNAME.


> rocon_remocon


add_master.png


What Next?

Visualisation or return to the TurtleBot main page.


2019-06-15 13:16