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Update Turtlebot3 authored by Olivier BOISSIER's avatar Olivier BOISSIER
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Turtlebot3.md
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...@@ -80,15 +80,13 @@ Reinitialize the environment of your Remote PC or Virtual Machine (in the follow ...@@ -80,15 +80,13 @@ Reinitialize the environment of your Remote PC or Virtual Machine (in the follow
Note: IP_OF_SERVER_RUNNING_ROSCORE can be equal to IP_OF_REMOTE_PC in case you run _roscore_ on the Remote PC. The ROS_MASTER_URI is necessary for connecting the ros node running on your Remote PC to the ros master node, i.e. the one running _roscore_. Note: IP_OF_SERVER_RUNNING_ROSCORE can be equal to IP_OF_REMOTE_PC in case you run _roscore_ on the Remote PC. The ROS_MASTER_URI is necessary for connecting the ros node running on your Remote PC to the ros master node, i.e. the one running _roscore_.
### Launching ROS ### Launching ROSCORE
* Launching roscore
```plaintext ```plaintext
(Remote PC)>roscore (Remote PC)>roscore
``` ```
* Starting a real robot burger ### Starting a real robot burger
Define a specific namespace for each robot and initialize the *multi_robot_name* parameter with that namespace ([Our burger configuration](/specification of our robots)): Define a specific namespace for each robot and initialize the *multi_robot_name* parameter with that namespace ([Our burger configuration](/specification of our robots)):
...@@ -96,7 +94,9 @@ Define a specific namespace for each robot and initialize the *multi_robot_name* ...@@ -96,7 +94,9 @@ Define a specific namespace for each robot and initialize the *multi_robot_name*
(Remote PC)>[ROS_NAMESPACE=myspace] roslaunch turtlebot3_bringup turtlebot3_remote.launch multi_robot_name:=myspace (Remote PC)>[ROS_NAMESPACE=myspace] roslaunch turtlebot3_bringup turtlebot3_remote.launch multi_robot_name:=myspace
``` ```
* Starting a simulated robot burger with _gazebo_ ### Starting a simulated robot burger
* with _gazebo_
```plaintext ```plaintext
(Remote PC)>roslaunch turtlebot3_gazebo turtlebot3_world.launch (Remote PC)>roslaunch turtlebot3_gazebo turtlebot3_world.launch
...@@ -107,7 +107,7 @@ Define a specific namespace for each robot and initialize the *multi_robot_name* ...@@ -107,7 +107,7 @@ Define a specific namespace for each robot and initialize the *multi_robot_name*
![](./images/turtlebot3_burger2.png) ![](./images/turtlebot3_burger2.png)
* Using a simulated burger with _rviz_ ([Our burger configuration](/specification of our robots)) * with _rviz_ ([Our burger configuration](/specification of our robots))
```plaintext ```plaintext
(Remote PC)>[ROS_NAMESPACE=/myspace] roslaunch turtlebot3_fake turtlebot3_fake.launch (Remote PC)>[ROS_NAMESPACE=/myspace] roslaunch turtlebot3_fake turtlebot3_fake.launch
...@@ -117,7 +117,9 @@ Define a specific namespace for each robot and initialize the *multi_robot_name* ...@@ -117,7 +117,9 @@ Define a specific namespace for each robot and initialize the *multi_robot_name*
![](./images/turtlebot3-rviz.png) ![](./images/turtlebot3-rviz.png)
* Controlling the burger with keyboard ([Our burger configuration](/specification of our robots)) ### Controlling the burger with keyboard
([Our burger configuration](/specification of our robots))
```plaintext ```plaintext
(Remote PC)>[ROS_NAMESPACE=/myspace] roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch (Remote PC)>[ROS_NAMESPACE=/myspace] roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
... ...
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