|Note: This tutorial assumes that you have completed the previous tutorials: Gazebo Bringup Guide.|
|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.|
Explore the Gazebo worldDescription: Cruise around in the Gazebo world and use RViz to "see" what's in it.
Keywords: keyop, rviz
Tutorial Level: BEGINNER
Next Tutorial: Make a map and navigate with it
Bringup Turtlebot, see what the robot senses, teleoperate in Gazebo simulation.
For convenience we will additionally install a set of RViz launchers, which will bring up RViz already configured for our use case.
$ sudo apt-get install ros-indigo-turtlebot-apps ros-indigo-turtlebot-rviz-launchers
Make the TurtleBot move
Next, in a second terminal* run the keyboard teleop tool.
$ roslaunch turtlebot_teleop keyboard_teleop.launch
$ roslaunch kobuki_keyop keyop.launch
If you prefer other methods to move the robot, be sure to use geometry_msgs/Twist topic by the name /mobile_base/commands/velocity.
See what the robot sees
Use RViz to visualise various sensory information. In a new terminal* execute:
$ roslaunch turtlebot_rviz_launchers view_robot.launch
RViz won't show much at first, since the Gazebo world is empty. So, let's add some objects to it!
* If your terminals are not already pre-configured with the ROS environment variables, you need to set them in each new terminal you open. Just execute the below command *before* you execute any other ROS commands.
$ source /opt/ros/indigo/setup.bash