Cheatsheet: Turtlebot3

General Tips

Please always check if someone is already using a TurtleBot by e.g.:

$ rosnode list

Export EnvironmentVariables

This has to be done in every terminal!

  1. Youneed to set the TurtleBot model before using any .launch files:

    $ export TURTLEBOT3_MODEL=waffle# for waffle
$ export TURTLEBOT3_MODEL=burger# or for burger

  2. Setup the ROS network variable(if you interact with the real robot):

    $ export ROS_MASTER_URI=http://<TB-IP>:11311
$ export ROS_IP=<MY-IP>

    For example:

    $ export ROS_MASTER_URI=http://192.168.1.199:11311
$ export ROS_IP=192.168.1.10

    To find the IP address of a computer use the command:

    $ ifconfig

Start the Turtlebot3

  1. Using the simulation:

    ## Setthe TURTLEBOT3 MODEL. See “2.”
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

  2. Real robot(after exporting the environment variables): Check if the TurtleBot is already started. See “1. General TIPS”.

    ON THE TURTLEBOT COMPUTER:

    • Remotely connect to the TurtleBot

      ## Setthe TURTLEBOT3 MODEL. See “2.”
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

    • Bring upthe TurtleBotdrivers

      $ roslaunch turtlebot3_bringup turtlebot3_robot.launch

    ON YOUR REMOTE COMPUTER:

    • Load the robot description into the ROS system

      ## Setthe TURTLEBOT3 MODEL. See “2.”
$roslaunch turtlebot3_bringup turtlebot3_remote.launch

    All commands of this page are supposed to be started on yourremotecomputer.

Control the robot

  • Via Keyboard

    $roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

  • With the RQT plugin

    $ ros run rqt_robot_steering rqt_robot_steering

  • Using a PS3 Joystick

    $ roslaunch teleop_twist_joy teleop.launch

  • Visualization using RVIZ (in a new terminal):

    $ rosrun rviz rviz -d `rospack find turtlebot3_description`/rviz/model.rviz
# Watch out to use backticks ` and not quotation sign ‘.

SLAM

  • Make sure that either the simulation or the real robot is started! See “3.”

  • Start SLAM (using gmapping):

    ## Set the TURTLEBOT3 MODEL. See “2.”
$ roslaunch turtlebot3_slam turtlebot3_slam.launch

  • Save the map:

    $ rosrun map_server map_saver -f ~/map