| Note: This tutorial assumes that you have completed the previous tutorials: Diagnostics. |
 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. |
Make it move
Description: Unleash the turtle and start exploringKeywords: kobuki, move, keyop
Tutorial Level: BEGINNER
Show EOL distros:
Overview
Checking sensor, swapping batteries, ... that's all right. But driving around Kobuki is much more fun! Here we go!
Launch
# First shell $ roslaunch kobuki_node minimal.launch --screen # Second shell $ roslaunch kobuki_keyop safe_keyop.launch --screen
Remark: There is also a normal keyop launcher (keyop.launch). The difference between both is, that safe_keyop makes use of a velocity smoother and Kobuki's safety controller. The latter uses the bumpers, cliff and wheel drop sensors to allow safe operation. Read more about Kobuki's control system in the advanced tutorials here.
Have fun
Just make sure, that the terminal in which you have launched the keyop app is active/highlighted and follow the output explanation to drive Kobuki around.
[...] [ INFO] [1355024590.413675538]: KeyOp: connected. Reading from keyboard --------------------------- Forward/back arrows : linear velocity incr/decr. Right/left arrows : angular velocity incr/decr. Spacebar : reset linear/angular velocities. d : disable motors. e : enable motors. q : quit.
