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← Revision 12 as of 2016-04-13 09:38:34 ⇥
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| [[[[turtlebot/Tutorials/indigo/TurtleBot Bringup|Bootstrap]] the turtle, i.e. launch minimal. | [[turtlebot_bringup/Tutorials/indigo/TurtleBot Bringup|Bootstrap]] the turtle, i.e. launch minimal. |
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| === Installation === Install [[rocon_remocon]] to use '''rocon_remocon''' and '''rqt_remocon''' {{{ > sudo apt-get install ros-indigo-rocon-remocon ros-indigo-rocon-apps }}} === RQT Remocon === |
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| > rqt_remocon }}} * Choose the PC pairing role. * Double click on the '''Listener''' interaction. ||<style="text-align: center; vertical-align:center;" tablewidth="100%">{{attachment:remocon_roles.png||width=95%}}||<style="text-align: center; vertical-align:center;" tablewidth="100%">{{attachment:remocon_rapps.png||width=95%}}|| This begins a talker on the robot and a listener on the pc. ||<style="text-align: center; vertical-align:center;" tablewidth="100%">{{attachment:remocon_chatter.png||width=95%}}|| === Rocon Remocon === The rocon remocon gives you the ability to connect to the running turtlebot and run the same interactions from a different master. It basically sandboxes an environment with `ROS_MASTER_URI/ROS_HOSTNAME` configured to the turtelbot's settings and runs whatever pc side applications need to be run (roslaunch/rosrun/chrome/qt app) inside that sandbox. ||<style="border: 1px solid black; background-color:#ccccff; text-align: center; vertical-align:top;" tablewidth="100%">'''Note:''' This is not true multimaster as you are still running components in a sandboxed environment locked into to the turtlebot's master. It does however let you '''discover/cache''' your robot uri's and let you run without having to continually reset your ROS_MASTER_URI/ROS_HOSTNAME.|| <<BR>> {{{ |
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| * Add a master, make sure you check the '''Use environment variables''' option. * Select the master, choose the PC pairing role. * Double click on the '''Listener''' interaction. |
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| This begins a talker on the robot and a listener on the pc. | * Add a master <<BR>> ||<style="text-align: center; vertical-align:center;" tablewidth="100%">{{attachment:add_master.png||width=95%}}|| <<BR>> * Proceed as for the rqt remocon. |
| Note: This tutorial assumes that you have completed the previous tutorials: TurtleBot Bringup, PC Bringup. |
 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. |
A First Interaction
Description: Run your first interaction with the turtlebot - chatter!Keywords: turtlebot
Tutorial Level: BEGINNER
Next Tutorial: Visualisation
Contents
About
We are going to start a talker-listener pair over the robot-pc connection as described in the Interacting with your Turtlebot tutorial.
Robot
Bootstrap the turtle, i.e. launch minimal.
PC
Installation
Install rocon_remocon to use rocon_remocon and rqt_remocon
> sudo apt-get install ros-indigo-rocon-remocon ros-indigo-rocon-apps
RQT Remocon
Make sure your ROS_MASTER_URI/ROS_HOSTNAME are configured properly. This is very important.
- Source your environment.
- Call the remocon.
> rqt_remocon
- Choose the PC pairing role.
Double click on the Listener interaction.
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This begins a talker on the robot and a listener on the pc.
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Rocon Remocon
The rocon remocon gives you the ability to connect to the running turtlebot and run the same interactions from a different master. It basically sandboxes an environment with ROS_MASTER_URI/ROS_HOSTNAME configured to the turtelbot's settings and runs whatever pc side applications need to be run (roslaunch/rosrun/chrome/qt app) inside that sandbox.
Note: This is not true multimaster as you are still running components in a sandboxed environment locked into to the turtlebot's master. It does however let you discover/cache your robot uri's and let you run without having to continually reset your ROS_MASTER_URI/ROS_HOSTNAME. |
> rocon_remocon
- Add a master
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- Proceed as for the rqt remocon.
What Next?
Visualisation or return to the TurtleBot main page.
