OU Turtlebot Start Up

Below are quick shortcuts to starting up key modules on the turtlebots. Pick the pieces that you need:

Minimal Start Up

Start up the turtlebot nodes (robot laptop):

roslaunch turtlebot_bringup minimal.launch

Start up the dashboard (host computer is most useful):

rqt -s kobuki_dashboard

Current set of ROS nodes and their connections (host computer is most useful):

rosrun rqt_graph rqt_graph

Start keyboard teleoperation (either):

roslaunch turtlebot_teleop keyboard_teleop.launch

or start the logitech joystick node (same computer as the joystick):

roslaunch turtlebot_teleop logitech.launch

Start up the 3D sensor services (Primesense) (robot laptop):

roslaunch turtlebot_bringup 3dsensor.launch

Start RVIZ (host computer):

roslaunch turtlebot_rviz_launchers view_robot.launch

Start Gmapping (robot laptop):

roslaunch turtlebot_navigation gmapping_demo.launch

Start Navigation Visualization. This is best done on the host computer (though we are seeing some odd timing problems when navigation goals are set)

roslaunch turtlebot_rviz_launchers view_navigation.launch

See the Navigation Tutorial for more information.

Last modified: Thu Oct 23 11:44:37 2014