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November 2, 2012

ROS Turtlebot Demos

Filed under: Daily — profmason @ 4:22 pm

Here we document a set of standard turtlebot demonstrations for the SoCal Robot Expo of Nov 3 2012.

  1. Boot the turtlebot computer and plug in the Irobot CREATE base
  2. SSH into the turtlebot.  If you don’t know the IP address, use the NMAP utility
  3. Type env to check that the ROS_HOSTNAME and ROS_MASTER are set to the current IP address
  4. To start the minimal set of nodes on the turtlebot type: roslaunch turtlebot_bringup minimal.launch

Keyboard driving demo:

  • roslaunch turtlebot_teleop keyboard_teleop.launch

Joystick driving demo:

  • sync joystick to receiver by pressing sync button
  • roslaunch turtlebot_teleop joystick_teleop.launch

Visualization demo:

  • Type env to check that the ROS_HOSTNAME is set to this computers ip address and ROS_MASTER is set to the robots IP.
  • Launch the kinect stack on the robot roslaunch turtlebot_bringup kinect.launch
  • On the workstation type “rosrun dynamic_reconfigure reconfigure_gui” to decrease the resolution of the camera and point cloud
  • On the workstation type rosrun rviz rviz
  • Add a camera and then a point cloud to the visualization

Mapping Demo:

  • Make sure that there are no kinect processes running
  • Type “roslaunch turtlebot_navigation gmapping_demo.launch” on the turtlebot
  • Type “rosrun rviz rviz -d `rospack find turtlebot_navigation`/nav_rviz.vcg” on the workstation
  • Once a map is made do NOT exit.  In a new terminal type: “rosrun map_server map_saver -f /tmp/tmp_map_date

SLAM demo:

  • Exit all processes except for the minimal
  • type “roslaunch turtlebot_navigation amcl_demo.launch map_file:=/tmp/tmp_map_date.yaml” to start the map server on the robot
  • On the workstation type “rosrun rviz rviz -d `rospack find turtlebot_navigation`/nav_rviz.vcg”

FOLLOWER demo:

  • Exit all processes except for the minimal
  • Type “roslaunch turtlebot_follower follower.launch”

Android Demos:

  • Connect Android device to network
  • Open App Chooser
  • Connect to Robot
  • Run Demos

Voice Demos:

  • roslaunch pi_speech_tutorial voice_nav_commands.launch
  • roslaunch pi_speech_tutorial turtlebot_voice_nav.launch

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