Revision as of 10:11, 8 June 2016

Reference

Quigley, Gerkey, and Smart. Porgramming Robots with ROS. O'Reilly, 2015.

Turtlebot Simulator Install

p 101 - needed to install dependencies first

 sudo apt-get update
 sudo apt-get install libsdformat1
 sudo apt-get install ros-indigo-gazebo-ros
 sudo apt-get install ros-indigo-turtlebot-gazebo

Turtlebot Simulator Launch

p 202 - it took a few minutes to initialize

Terminal 1

 roscore

Terminal 2

 roslaunch turtlebot_gazebo turtlebot_world.launch

Keyboard Teleop

• Quigley Gerkey Smart for keyboard teleop setup
• Chap 8: Telop-bot: pp 111-135

Terminal 3

rosrun smart key_publisher.py

Terminal 4

 rosrun smart keys_to_twist.py cmd_vel:=cmd_vel_mux/input/teleop