Note: This tutorial assumes that you have completed the previous tutorials: TurtleBot Bringup, PC 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.

The TurtleBot Follower Demo

Description: This describes how to run the TurtleBot Follower Demo on your TurtleBot.

Tutorial Level: BEGINNER

Next Tutorial: Turtlebot Panorama

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 (ssh help) into the TurtleBot and start the follower demo:

  • 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

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
  2. Select camera/follower on the reconfigure gui
  3. 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 Pairing, you can also launch the follower demo and start/stop following behavior from your Android device. Exciting? then move on!

What Next?

Wiki: turtlebot_follower/Tutorials/Demo (last edited 2015-03-31 06:41:44 by DongWookLee)