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Using package of roch_follower
Description: How to use roch_follower and what's inside.Tutorial Level: BEGINNER
Next Tutorial: Using package of roch_navigation
Launch follower
Before you do under steps, please ensure you have choose sensors which you wanner use, configuration at change env of Roch.
Using laptop
- Bring up the robot
roslaunch roch_bringup minimal.launch
You should launch this file at first if you haven't launch. And content about roch_bringup, please look at roch_bringup.
- Launch follower
roslaunch roch_follower folower.launch
Once you have run minimal.launch, then you can run follower.launch.
The follower should now be running. To initiate following, walk in front of the Roch. Then, slowly walk away from the Roch. The robot should move forward. Moving close to the Roch will cause it to back away. Moving slowly to the left or right will cause the Roch to turn. To stop the robot from following, walk quickly away from the robot.
Using Jeston
You should do these steps if you used Jeston board which is standard configuration on Roch.
And Now you should have two PC included Jeston board, another is your own.
Connect Jeston board by using ssh on your computer. such as:
ssh ubuntu@192.168.1.100
ubuntu is name of Roch's Jeston board, and 192.168.1.100 is IP address about Roch.
note: before you typing following two command, you should run preceding command.
- Bring up the robot
roslaunch roch_bringup minimal.launch
You should launch this file at first if you haven't launch. And content about roch_bringup, please look at roch_bringup.
- Launch follower
roslaunch roch_follower folower.launch
Once you have run minimal.launch, then you can run follower.launch.
Changing Follower Parameters
- Run the dynamic reconfigure gui on your workstation computer.
rosrun rqt_reconfigure rqt_reconfigure
- Select camera/follower on the reconfigure gui.
- Play with the parameters using the sliders; you will see the Roch's following behavior change as you move the sliders.
Above message you can find following turtlebot_follower demo.
