Turtlebot goes round and round

April 18, 2018

Last post, we saw what was happening in the background when the turtlebot was moving around. Now, we try to modify the behaviour programatically. If you are using C++, the Ros Wiki should be sufficient. If you are using python, the Rospy tutorials are also necessary. Create a new package in catkin_ws/src, write some code (I copied the turtlebot3_teleop and made suitable modifications), catkin_make and install and you should be ready to go.

My code is available here: https://github.com/ashwin67/roxperiments/tree/master/turtlebot3_round

Once you have successfully completed make and install, you just need to run the various ROS commands in separate consoles:

~$ roscore
~$ export TURTLEBOT3_MODEL=burger
~$ roslaunch turtlebot3_bringup turtlebot3_remote.launch
~$ roslaunch turtlebot3_bringup turtlebot3_remote.launch
~$ rqt
~$ ssh turtlebot3@192.168.x.xxx
~$ roslaunch turtlebot3_bringup turtlebot3_robot.launch

And here is the robot running around in circles:

Turtlebot goes round and round - April 18, 2018 -