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Bring up Turtlebot as Concert Client

Description: how to start the turtlebot concert

Keywords: rocon concert solution turltebot

Tutorial Level: BEGINNER

Next Tutorial: Teleop a turtlebot via Concert

Goal

This tutorial guides you to bring up a turtlebot as concert client and join concert that you have started in the previous tutorial. Also it assumes that you have installed all turtlebot packages in TurtleBot Installation.

Bring up a Turtle

1. Bring up a TurtleBot with its own name.

 > export ROS_MASTER_URI=http://localhost:11311
 > export ROS_HOSTNAME=<turtlebot pc ip address>
 > export TURTLEBOT_NAME=my_turtle
 > roslaunch turtlebot_bringup concert_client.launch --screen

Note that Concert framework is a multi ros master system. Keep ROS_MASTER_URI as http://localhost:11311.

2. Now turtlebot should have joined the concert with zerocon auto discovery. Check with conductor graph in concert PC to see if turtlebot has joined.

 # From Concert PC
 > concert_conductor_graph

alt text

When the next turtle joins...

alt text

What's Next?


2019-06-22 13:17