Note: This tutorial assumes that you have completed the previous tutorials: TurtleBot Bringup.
(!) Please ask about problems and questions regarding this tutorial on Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.


Description: このチュートリアルはTurtleBotの追従者デモの実行方法について説明します

Tutorial Level: BEGINNER





  • To ssh in to a TurtleBot from a workstation computer:

    • determine the IP_OF_TURTLEBOT by using ifconfig (Need more help)

      To determine a computer's IP address and network interface in linux:

      • ifconfig

      You will see something like:

      • lo        Link encap:Local Loopback  
                  inet addr:  Mask:
                  inet6 addr: ::1/128 Scope:Host
                  UP LOOPBACK RUNNING  MTU:16436  Metric:1
                  RX packets:6658055 errors:0 dropped:0 overruns:0 frame:0
                  TX packets:6658055 errors:0 dropped:0 overruns:0 carrier:0
                  collisions:0 txqueuelen:0 
                  RX bytes:587372914 (587.3 MB)  TX bytes:587372914 (587.3 MB)
        wlan1     Link encap:Ethernet  HWaddr 48:5d:60:75:58:90  
                  inet addr:  Bcast:  Mask:
                  inet6 addr: fe80::4a5d:60ff:fe75:5890/64 Scope:Link
                  UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
                  RX packets:101983 errors:0 dropped:0 overruns:0 frame:0
                  TX packets:37244 errors:0 dropped:0 overruns:0 carrier:0
                  collisions:0 txqueuelen:1000 
                  RX bytes:49326141 (49.3 MB)  TX bytes:7588044 (7.5 MB)
      • the network interface for the wireless card is wlan1

      • the IP address of the computer is

    • use ssh to connect to the TurtleBot

      ssh turtlebot@IP_OF_TURTLEBOT

    roslaunch turtlebot_follower follower.launch


  1. dyanmic reconfigure guiを自分のPC上で実行します
    • # pre-groovy
      rosrun dynamic_reconfigure reconfigure_gui
      # groovy or later
      rosrun rqt_reconfigure rqt_reconfigure

1. reconfigure gui上でcamera/followerを選びます 1. スライダーを使って、パラメータを変化させて遊びます。スライダーを動かすと!TurtleBotの追従の挙動が変わるでしょう。

Android クライアント

Turtlebot-Android Pairingの方法で、Androidデバイスから追従者デモを起動し、追従の挙動を開始/停止することもできます。わくわくしますか?ではやってみましょう!


Wiki: ja/turtlebot_follower/Tutorials/Demo (last edited 2014-09-22 10:38:47 by Moirai)