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Note: This tutorial assumes that you have completed the previous tutorials: PC Installation, Network Configuration, TurtleBot 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.

PC Bringup

Description: Connecting to the turtlebot from the PC.

Tutorial Level: BEGINNER

Next Tutorial: TurtleBot Care and Feeding

ROS Environment

Source your local setup.bash.

Again, it is very important to make sure you have set any and all environment variables correctly. This includes those for ROS Networking and non-default hardware configurations - the create base or a Kinect.

Dashboards

A good way to quickly see if the Turtlebot is alive is by using the RQT robot dashboards. Each base manufacturer (Kobuki and Create) each have their own dashboard software:

Kobuki

If you have a kobuki base, run the following command on your PC:

> rqt -s kobuki_dashboard

To run this command, you will have to have installed kobuki_dashboard via the following command:

> sudo apt-get install ros-indigo-kobuki-dashboard

If you receive errors about not being able to find the kobuki_dashboard plugin, run

> rqt --force-discovery

And then re-run the first command in this section.

turtlebot_bringup/Tutorials/groovy/TurtleBot Bringup/turtlebot_dashboard.png

Create Base

If you have a create base, make sure the create enironment variables have been exported and:

> roslaunch turtlebot_dashboard turtlebot_dashboard.launch

Troubleshooting

If buttons remain grey, your ROS_MASTER_URI or ROS_HOSTNAME/ROS_IP are not set, see the network configuration tutorial.

What Next?


2019-10-12 13:13