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Update Turtlebot3 authored by Olivier BOISSIER's avatar Olivier BOISSIER
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Turtlebot3.md
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...@@ -72,7 +72,7 @@ Note: IP_OF_SERVER_RUNNING_ROSCORE can be equal to IP_OF_REMOTE_PC in case you r ...@@ -72,7 +72,7 @@ Note: IP_OF_SERVER_RUNNING_ROSCORE can be equal to IP_OF_REMOTE_PC in case you r
* 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](/Our-robots'specification)): Define a specific namespace for each robot and initialize the *multi_robot_name* parameter with that namespace ([Our burger configuration](/specification of our robots)):
```plaintext ```plaintext
(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
...@@ -89,7 +89,7 @@ Define a specific namespace for each robot and initialize the *multi_robot_name* ...@@ -89,7 +89,7 @@ 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](/Our-robots'specification)) * Using a simulated burger 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
...@@ -99,7 +99,7 @@ Define a specific namespace for each robot and initialize the *multi_robot_name* ...@@ -99,7 +99,7 @@ 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](/Our-robots'specification)) * 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
...@@ -355,7 +355,7 @@ By default, TurtleBot3 Burger and Waffle robots get automatically configured at ...@@ -355,7 +355,7 @@ By default, TurtleBot3 Burger and Waffle robots get automatically configured at
* Configuring the TurtleBot3 Burger * Configuring the TurtleBot3 Burger
From the remote PC, connect to the Burger by ssh ([Our burger configuration](/Our-robots'specification)): From the remote PC, connect to the Burger by ssh ([Our burger configuration](/specification of our robots)):
```plaintext ```plaintext
(Remote PC)> ssh pi@{IP_ADDRESS_OF_BURGER} (Remote PC)> ssh pi@{IP_ADDRESS_OF_BURGER}
...@@ -375,7 +375,7 @@ Reinitialize the environment of your Burger: ...@@ -375,7 +375,7 @@ Reinitialize the environment of your Burger:
(Burger)> source ~/.bashrc (Burger)> source ~/.bashrc
``` ```
Define a specific namespace for your robot and initialize two parameters *multi_robot_name* and *set_lidar_frame_id* with that namespace ([Our burger configuration](/Our-robots'specification)): Define a specific namespace for your robot and initialize two parameters *multi_robot_name* and *set_lidar_frame_id* with that namespace ([Our burger configuration](/specification of our robots)):
```plaintext ```plaintext
(Burger)>[ROS_NAMESPACE=myspace] roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="myspace" set_lidar_frame_id:="myspace/base_scan" (Burger)>[ROS_NAMESPACE=myspace] roslaunch turtlebot3_bringup turtlebot3_robot.launch multi_robot_name:="myspace" set_lidar_frame_id:="myspace/base_scan"
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