Turtlebot Simulation

• Log into a lab computer as "student" with no password.
• Open a terminal window and type the following:

  roslaunch turtlebot_gazebo turtlebot_world.launch
  

  This should bring up the Turtlebot simulator. Use TAB completion to avoid typing each individual character.
• The left mouse button pans the camera, the right mouse button zooms the camera, and pressing both buttons allows you to rotate the camera.
• Type the following command into a new terminal window (or tab):

  roslaunch turtlebot_teleop keyboard_teleop.launch
  

  Confirm that you can drive the simulated Turtlebot using the keyboard controls.
• Type the following command into a new terminal window (or tab):

  roslaunch turtlebot_rviz_launchers view_robot.launch
  

  Select the check-boxes associated with "LaserScan" and "Images". You should see a yellow exclamation point appear next to the "Image" field, you can fix that by clicking on the triangle and selecting /camera/rgb/image_raw as the image topic. Zoom the camera out (using the mouse scroll wheel) until you can see the visualization of the laser data. Try driving the robot around once again using keyboard teleoperation.
• Once you are finished, press CTRL-C in the teleop terminal. This is the universal command to stop ROS processes in the terminal.

Robot Teleoperation (If Time)

• Grab a Turtlebot.
• Make sure the Turtlebot base is turned on and connected via the USB cable.
• Open a terminal and type:

  roslaunch turtlebot_bringup minimal.launch
  

  If all goes well, the terminal should fill with notification messages and the robot should make a pleasant electronic start-up sound. Ignore any warnings that may appear.
• Open up a new tab in your terminal and type:

  roslaunch turtlebot_teleop keyboard_teleop.launch 
  

  Once the instructions appear you should be able to drive your Turtlebot from the keyboard.
• Launch Rviz according to the instructions above. Experiment with visualizing the Turtlebot sensor data.