Book Image

ROS Robotics By Example

Book Image

ROS Robotics By Example

Overview of this book

The visionaries who created ROS developed a framework for robotics centered on the commonality of robotic systems and exploited this commonality in ROS to expedite the development of future robotic systems. From the fundamental concepts to advanced practical experience, this book will provide you with an incremental knowledge of the ROS framework, the backbone of the robotics evolution. ROS standardizes many layers of robotics functionality from low-level device drivers to process control to message passing to software package management. This book provides step-by-step examples of mobile, armed, and flying robots, describing the ROS implementation as the basic model for other robots of these types. By controlling these robots, whether in simulation or in reality, you will use ROS to drive, move, and fly robots using ROS control.
Table of Contents (17 chapters)
ROS Robotics By Example
Credits
About the Authors
About the Reviewer
www.PacktPub.com
Preface
Index

Move the real TurtleBot


There are a number of ways to move the TurtleBot using ROS. In this section, we present the following three methods:

  • Using the keyboard

  • Using ROS terminal window commands

  • Using a Python script

Using keyboard teleoperation to move TurtleBot

In a new terminal window, launch the TurtleBot keyboard teleop program on the remote computer:

$ roslaunch turtlebot_teleop keyboard_teleop.launch

The output is as follows:

... logging to /home/turtlebot/.ros/log/b662ab4a-c22e-11e5-b730-6c71d9a711bd/roslaunch-turtlebot-0428-26633.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://192.168.11.123:58861/
SUMMARY
========
PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.16
 * /turtlebot_teleop_keyboard/scale_angular: 1.5
 * /turtlebot_teleop_keyboard/scale_linear: 0.5
NODES
  /
    turtlebot_teleop_keyboard (turtlebot_teleop/turtlebot_teleop_key)
ROS_MASTER_URI...