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## description = This describes how to run the !TurtleBot Follower Demo on your !TurtleBot.  
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<<TableOfContents(4)>>

== Follower Demo ==
The follower demo will cause the !TurtleBot to look for objects in a window in front of it.  And it will seek to keep the centroid of the observed objects directly in front of it and a fixed distance away.  If the centroid of the object is too far away it will drive forward, too close backward, and if offset to the side it will turn toward the centroid.  


== Start Demo ==
Start by ssh-ing <<SeeSaw(section="sshhelp",toshow="(ssh help)")>> into the !TurtleBot and start the follower demo:

 {{{#!wiki seesaw sshhelp
<<Include(turtlebot/help/ssh)>><<BR>>
}}} 

 {{{
roslaunch turtlebot_follower follower.launch
}}}

== Changing Follower Parameters ==
 1. Run the dynamic reconfigure gui on your workstation computer. 
  {{{
# pre-groovy
rosrun dynamic_reconfigure reconfigure_gui
# groovy or later
rosrun rqt_reconfigure rqt_reconfigure
}}}
 1. Select camera/follower on the reconfigure gui
 1. Play with the parameters using the sliders; you will see the !TurtleBot's following behavior change as you move the sliders.  

== Android client ==
As you will learn in the [[turtlebot_android/Tutorials/hydro/Turtlebot-Android Pairing|Turtlebot-Android Pairing]], you can also launch the follower demo and start/stop following behavior from your Android device. Exciting? then move on!

== What Next? ==

 * [[turtlebot_panorama/Tutorials/Demo|Panorama demo]], that shows you how to take  panoramic pictures with your TurtleBot or return to [[Robots/TurtleBot | TurtleBot main page]].

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