Turtlebot Teleoperation

• Log into the Turtlebot netbook.
• Make sure the Turtlebot is turned on and connected to your netbook over 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.
• 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.

True Teleoperation

• Kill the teleop process by pressing Ctrl-C in that terminal tab. (This is the almost-universal off switch for processes running in a Linux terminal.)
• Figure out the IP address of your netbook. You can do this by typing ifconfig into a terminal window. You should see something like:

  eth0      Link encap:Ethernet  HWaddr 08:60:6e:91:56:01  
            UP BROADCAST MULTICAST  MTU:1500  Metric:1
            RX packets:0 errors:0 dropped:0 overruns:0 frame:0
            TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:1000 
            RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)
            Interrupt:19 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            inet6 addr: ::1/128 Scope:Host
            UP LOOPBACK RUNNING  MTU:16436  Metric:1
            RX packets:69397917 errors:0 dropped:0 overruns:0 frame:0
            TX packets:69397917 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:10305833094 (10.3 GB)  TX bytes:10305833094 (10.3 GB)
  
  wlan0     Link encap:Ethernet  HWaddr dc:85:de:8a:13:5c  
            inet addr:134.126.125.200  Bcast:134.126.125.255  Mask:255.255.255.0
            inet6 addr: fe80::de85:deff:fe8a:135c/64 Scope:Link
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:4653 errors:0 dropped:0 overruns:0 frame:0
            TX packets:5643 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:1000 
            RX bytes:840813 (840.8 KB)  TX bytes:1134373 (1.1 MB)
  

  You are looking for an "inet addr" field that looks like an IP address. In this case it is 134.126.125.200. Note that IP address for later use.
• Log into one of the lab machines against the wall.
• Now ssh into your Turtlebot:

ssh -X robot@134.126.83.227

• Relaunch teleop and drive your robot around.
• Notes:
  • The -X in the ssh invocation enables X11 forwarding. This means that if you start a GUI application on the remote machine, it will be visible on your local display. This can be handy, but performance will tend to be choppy over wifi.
  • If you want to open multiple "tabs" within your ssh session, you can use a program named byobu.

Rviz (if time)

• Plug the Kinect sensor into the USB port on the right side of the netbook.
• Open up a new tab in your terminal and type:

  roslaunch turtlebot_bringup 3dsensor.launch depth_registration:=false
  

  This activates the Kinect sensor.
• Open up a new tab in your terminal and type:

  roslaunch turtlebot_rviz_launchers view_robot.launch
  

  (Rviz occasionally crashes on startup. Usually restarting it solves the problem.)
• You should now be able to visualize the Turtlebot as well as the Kinect data. Try turning different topics on and off by clicking the check boxes in the "Displays" pane on the left side of the screen. The mouse pad can be used to charge the camera angle of the visualization.