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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 world

Description: 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.

Overview

In this tutorial we will use the keyboard teleop tool from the turtlebot_teleop package to drive the TurtleBot around and use RViz to visualise the sensor data.

Preparations

First we need to install the turtlebot_teleop package. Since we will use other apps in the later tutorials, we will install all TurtleBot apps already.

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

First, bring up the TurtleBot simulation as described in the Gazebo Bringup Guide.

Next, in a second terminal* run the keyboard teleop tool.

$ roslaunch turtlebot_teleop keyboard_teleop.launch

For TurtleBot 2 you can also use the kobuki_keyop tool:

$ 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!

turtlebot_gazebo_rviz.png

Notes

* 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

What Next?


2019-10-12 13:13