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## note.0= [[rocon_qt_teleop/Tutorials/indigo/Qt Teleop a turtlebot|Qt Teleop]]
## descriptive title for the tutorial
## title = Interactive Markers Teleop
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## description = A tutorial describing how to use rviz interactive markers for controlling the !TurtleBot.
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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>

== Goal ==
##START
!TurtleBot interactive markers are an alternative way to control your !TurtleBot. They allow you to teleoperate the robot from [[rviz]].

== Installation ==

{{{
 > sudo apt-get install ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions
 > sudo apt-get install ros-indigo-turtlebot-interactive-markers
}}}

== Execute ==

Make sure the [[turtlebot_bringup/Tutorials/indigo/TurtleBot Bringup|minimal software]]  has already been launched on the robot and you have [[turtlebot/Tutorials/indigo/Network Configuration|configured your network]] correctly. On the PC:

'''Roslaunch'''

1. launch the {{{turtlebot_marker_server}}}, which will host an [[interactive_markers]] server.

{{{
> roslaunch turtlebot_interactive_markers interactive_markers.launch --screen
}}}

2. Next, start up a rviz displaying the marker topics. On the PC, type:

{{{
> roslaunch turtlebot_rviz_launchers view_robot.launch
}}}

'''Remocon'''

/!\ Not available via remocon yet.

== Interact! ==

Check the "Interactive Markers" display component and select the "Interact" tool in the tool palette on the top of the screen (shown below) to bring up the interactive markers for the turtlebot.

||<:> {{attachment:turtlebot_interactive_markers.png || width=80%}} ||

You can now drag the red arrows to drive the !TurtleBot forward and backward, and the blue ring to rotate the !TurtleBot. You can also drag the blue ring to both rotate and translate the !TurtleBot at the same time.

== Video ==
<<Youtube(MQ6fNrehMNI)>>
##END

== What Next? ==

 * [[turtlebot_navigation/Tutorials/Build a map with SLAM|Build a map with SLAM]] or return to [[Robots/TurtleBot|TurtleBot main page|&distro=indigo]].

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