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basic_operation

Basic Operation​

Teleoperation​

The TurtleBot3 can be teleoperated by remote control. Make sure that the necessary ROS packages are supported for your SBC and ROS version.

WARNING: Make sure to run Bringup on the TurtleBot3 SBC before teleoperation. Additionally, be careful when testing the robot on the table as the robot may drive over the edge.

Keyboard​

  1. Open a terminal on the Remote PC.
  2. Run the teleoperation node. Replace the ${TB3_MODEL} with burger or waffle or waffle_pi, if the TURTLEBOT3_MODEL parameter is not predefined.
    [Remote PC]
$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ ros2 run turtlebot3_teleop teleop_keyboard
  1. If the node is successfully launched, the following instructions will appear on the terminal window.
    [Remote PC]
Control Your Turtlebot3
Moving around
        w
    a   s   d
        x
w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)
space key, s : force stop
CTRL-C to quit

RC-100​

The settings for the [ROBOTIS RC-100B][rc100] are included in the OpenCR firmware for TurtleBot3. It can be used with the [BT410][bt410] Bluetooth module .TurtleBot3 Waffle Pi includes this controller and Bluetooth modules. When using the RC-100B, it is not necessary to execute a specific node because turtlebot_core node creates a /cmd_vel topic in the firmware directly connected to OpeCR.

  1. Connect BT-410 to any of the OpenCR UART ports.

  2. Control the TurtleBot3 with RC-100.

  • Up / Down : Increase or decrease linear velocity
  • Left / Right : Increase or decrease angular velocity

PS3 Joystick​

  1. Connect the PS3 Joystick to the Remote PC via Bluetooth or a USB cable.

  2. Install the ds4drv package using pip.
    [Remote PC]

$ sudo pip install ds4drv
  1. Launch the joystick node.
    [Remote PC]
$ sudo ds4drv
$ ros2 run joy joy_node
  1. Open a new terminal and launch the teleoperation node.
    [Remote PC]
$ ros2 run teleop_twist_joy teleop_node

XBOX 360 Joystick​

  1. Connect the XBOX 360 Joystick to the remote PC with the Wireless Adapter or USB cable.

  2. Open a terminal on the Remote PC.

  3. Launch the joystick node.
    [Remote PC]

$ ros2 run joy joy_node
  1. Open a new terminal and launch the teleoperation node.
    [Remote PC]
$ ros2 run teleop_twist_joy teleop_node

Topic Monitor​

Read more about Topic Monitor

In order to monitor the TurtleBot3 topics use rqt, a Qt-based framework for GUI development for ROS. It is a tool that allows for the display all topics of the TurtleBot3.

  1. Run rqt from the PC with the command below. If the topic monitor window is not displayed, select the plugin -> Topics -> Topic Monitor.
    [Remote PC]
$ rqt

  1. When the topic monitor is loaded, the topic values are not monitored by default. Click the checkbox next to each topic to monitor the topic.

  2. To see more detailed topic messages, click the ▶ icon next to the checkbox.

  • /battery_state indicates a message relating to the battery condition, such as the current battery voltage and remaining capacity.

  • /odom indicates a message containing the odometry of the TurtleBot3. This topic has orientation and position encoder data.

  • /sensor_state indicates a message containing encoder values, battery and torque status.

  • /scan indicates a message containing LDS data, such as angle_max and min, and range_max and min.

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