THe goal of today’s lab is to gain experience working with the TurtleBots and to practice working with ROS 2 command line tools.

Part 1 - Robot Teleoperation

Workstation Setup

We’ll need to use some custom ROS 2 packages to connect to the TurtleBots in the lab. The following steps walk through the process of configuring the student account on the lab laptops. You’ll need to complete these steps every time you log into the lab machines.

Download the file ros2_jmu_setup.sh.
Source the file in a terminal as follows:
```
source ./ros2_jmu_setup.sh 
```
If you are using a physical robot, use the robot ID as your ROS_DOMAIN_ID, if you are using the simulator, use the number of your laptop.

Using The Robot

Switch on the robot and wait for around 30 seconds for the boot process to complete.
Log into the robot using ssh:
```
ssh robot3.cs.jmu.edu
```
where the “3” is replaced by the number for your robot.
Type the following into the terminal on the robot:
```
ros2 launch turtlebot3_bringup robot.launch.py
```
In a separate terminal on the laptop, type the following:
```
ros2 run turtlebot3_teleop teleop_keyboard 
```
You should now be able to drive the robot using keyboard input.

Experimenting with rviz2

Open a new terminal/tab and type the following command:
```
ros2 launch jmu_turtlebot3_bringup rviz2.launch.py
```
Take a minute to experiment with activating and deactivating the different displays in the rviz2 windows.

TurtleBot3 Simulation

Open a new terminal and type the following (don’t forget to use tab completion!)
```
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py 
```
You should see a window that looks something like the following:
```
In a separate terminal on the laptop, type the following:
```
ros2 run turtlebot3_teleop teleop_keyboard 
```
You should now be able to drive the robot using keyboard input.

Experimenting with rviz2

Open a new terminal/tab and type the following command:
```
ros2 launch jmu_turtlebot3_bringup rviz2.launch.py
```
Take a minute to experiment with activating and deactivating the different displays in the rviz2 windows.

Part 2 - CLI Exercises

Download the file ros2_cli_worksheet.txt. Complete each of the exercises and write your answers in the text document. Submit your finished file through Canvas.

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.