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Using package of roch_bringupDescription: How to use package of roch_bringup in Roch
Tutorial Level: BEGINNER
Next Tutorial: Changing env of roch
This tutorial assumes that you have a Roch and under these tutorials will run on Roch, also roch_robot you have installed.
- Bring up the roch
roslaunch roch_bringup minimal.launch
This launch file will turn on all hardware driver such as communication with Roch, robot description, robot_localization, ros_control and so on. This launch file is the most basic package before you launch another demo such as roch_follower, roch_navigation, roch_bringup.
Launch sensors on Roch.
roslaunch roch_bringup sensor.launch
You should change environment variable in .bashrc file if you want to chose another sensor. Open .bashrc and add following lines:
export ROCH_3D_SENSOR=r200 #for now have three support sensor [ asus_xtion_pro, kinect, r200] export ROCH_LASER=ls01c #[ls01c, rplidar]
Default rplidar is A1.
Launch rocon app
If you want to use rocon for multimaster with Roch, you should launch concert_minimal.launch at first, which will run roch apps for both Qt and android, command shown follow:
roslaunch roch_bringup concert_minimal.launch
Checkout on android
After this you can install rocon_remocon apk for your android device.
Choose Roch wifi and type password, for how to configure please read Network
When you fire up rocon_remocon will see mainly layout under.
Add Roch master:
note: default master URI is http://192.168.0.100:11311
Click Roch you will find choose role:
Choose different role you will find some app you can perform.
For example launch navigation:
Checkout on Qt
Under this is a screenshot after fire up rqt_remocon or rocon_remocon.
rqt_remocon # or recon_remocon