| Note: This tutorial assumes that you have completed the previous tutorials: Joystick Teleop. |
 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. |
Interactive Markers Teleop (pre-groovy)
Description: A tutorial describing how to use rviz interactive markers for controlling the TurtleBot.Tutorial Level: BEGINNER
Introduction
TurtleBot interactive markers are an alternative way to control your TurtleBot. They allow you to teleoperate the robot from rviz.
Running the Marker Server
Do these steps on the PC, not the TurtleBot for best performance. First, if you installed from source, make sure the package has been made:
> rosmake turtlebot_interactive_markers
Then launch the turtlebot_marker_server, which will host an interactive_markers server.
> rosrun turtlebot_interactive_markers turtlebot_marker_server
Running rviz
Next, start up a copy of rviz displaying the marker topics. On the PC, type:
> rosrun rviz rviz -d `rospack find turtlebot_interactive_markers`/config/interactive_markers.vcg
Interact!
Check the "Interactive Makers" 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.
You can now drag the red arrows to drive the TurtleBot forward and backward, and the green circle to rotate the TurtleBot. You can also drag the green circle to both rotate and translate the TurtleBot at the same time.
Video
What Next?
Build a map with SLAM or return to TurtleBot main page.
