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Note: This tutorial assumes that you have completed the previous tutorials: Qt Teleop.
(!) 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.

Interactive Markers Teleop

Description: A tutorial describing how to use rviz interactive markers for controlling the TurtleBot.

Tutorial Level: BEGINNER

Goal

TurtleBot interactive markers are an alternative way to control your TurtleBot. They allow you to teleoperate the robot from rviz.

Installation

 > sudo apt-get install ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions
 > sudo apt-get install ros-indigo-turtlebot-interactive-markers

Execute

Make sure the minimal software has already been launched on the robot and you have configured your network correctly. On the PC:

Roslaunch

1. launch the turtlebot_marker_server, which will host an interactive_markers server.

> roslaunch turtlebot_interactive_markers interactive_markers.launch --screen

2. Next, start up a rviz displaying the marker topics. On the PC, type:

> roslaunch turtlebot_rviz_launchers view_robot.launch

Remocon

/!\ Not available via remocon yet.

Interact!

Check the "Interactive Markers" display component and select the "Interact" tool in the tool palette on the top of the screen (shown below) to bring up the interactive markers for the turtlebot.

turtlebot_interactive_markers.png

You can now drag the red arrows to drive the TurtleBot forward and backward, and the blue ring to rotate the TurtleBot. You can also drag the blue ring to both rotate and translate the TurtleBot at the same time.

Video

What Next?


2019-12-07 13:13