ROS教程之远程控制turtlebot

1.查看turtlebot和PC的ip

      turtlebot  ui@ 192.168.1.4

      PC 192.168.1.13

      确保他们连在一个局域网下

 

2.pc上设置环境

      echo exportROS_MASTER_URI=http://192.168.1.4:11311 >>  ~/turtlebot/devel/setup.sh

 

      echo export ROS_HOSTNAME=192.168.1.13>> ~/turtlebot/devel/setup.sh

 

      source ~/turtlebot/devel/setup.sh

3.在PC上连接上turtlebot，启动turtlebot

 

      ssh ui@192.168.1.4

 

      source ~/turtlebot/devel/setup.sh

 

   roslaunch turtlebot_bringup minimal.launch

 

4.建立Slam Map

      新打开一个终端

      ssh ui@ 192.168.1.4

     

   source ~/turtlebot/devel/setup.sh

 

   roslaunch turtlebot_navigationgmapping_demo.launch

 

      在PC上打开rviz

      在pc上新建一个终端 输入

 

      source ~/turtlebot/devel/setup.sh

 

roslaunchturtlebot_rviz_launchers view_navigation.launch

 

5.在PC上控制turtlebot

   新建一个终端

   source ~/turtlebot/devel/setup.sh

 

   roslaunch turtlebot_teleopkeyboard_teleop.launch

 

6.保存扫出来的图片

   新建终端 

   source ~/turtlebot/devel/setup.sh

 

   rosrun map_server map_saver -f /tmp/my_map

 

  无论在turtlebot上保存还是在pc上保存都需要先source

 

ROS wiki ：  http://wiki.ros.org/Robots/TurtleBot/