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04-Turtlebot_Teleop.md

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Turtlebot Teleop

Now that you have configured the network connections and are able to ping between machines, you can control the turtlebot from the master using the Keyboard Teleop launch file.

Open a new terminal on the master laptop:

roslaunch turtlebot_teleop keyboard_teleop.launch

You should see the IP_OF_TURTLEBOT near the top of the terminal window.

Turtlebot computer

You can test drive the Kobuki base by using the Keyboard teleop launch file located in the turtlebot_teleop package

roslaunch turtlebot_teleop keyboard_teleop.launch

Turtlebot Follower

The Turtlebot has an additional program that can follow an entity in a designated window.

  • Open a new terminal on the master laptop: roslaunch turtlebot_follower follower.launch

Using the configuration GUI for ROS you can modify the parameters of the follower.

  1. In a new terminal: rosrun rqt_reconfigure rqt_reconfigure

  2. Select camera/follower on the reconfigure gui.

  3. Play with the sliders and see how the parameters effect the Turtlebot's behavior.

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