Turtlebot3.md

@@ -6,7 +6,7 @@ TurtleBot is a ROS standard platform robot. There are 3 versions of the TurtleBo
 
 Turtlebot3 burger is the smallest turtlebot3 mobile robot. It is composed of 2 DYNAMIXEL servomotors (one for each wheel), 1 OpenSource control card (OpenCR ARM Cortex-M7), 1 Raspberry Pi3, sensors for the navigation with 360° LiDAR.
 
-<img src="./images/turtlebot3-burger1.jpg" width="350" height="400">
+<img src="./images/turtlebot3-burger1.jpg" width="300" height="350">
 
 ## specification
 
@@ -25,6 +25,32 @@ Turtlebot3 burger is the smallest turtlebot3 mobile robot. It is composed of 2 D
 
 ## getting started
 
++ Configure environment variable of roscore
+```
+(Remote PC)>export TURTLEBOT3_MODEL=burger
+(Remote PC)>export ROS_MASTER_URI=http://IP_OF_ROSCORE:11311
+(Remote PC)>export ROS_HOSTNAME=IP_OF_REMOTEPC
+```
++ Configure environment variable of burger in bashrc
+```
+(Burger)>export TURTLEBOT3_MODEL=waffle_ip
+(Burger)>export ROS_MASTER_URI=http://IP_OF_ROSCORE:11311
+(Burger)>export ROS_HOSTNAME=IP_OF_BURGER
+```
++ Launch roscore
+```
+(Remote PC)>roscore
+```
++ Start burger
+```
+(Remote PC)>ssh pi@{IP_ADDRESS_OF_BURGER}
+(Burger)>roslaunch turtlebot3_bringup turtlebot3_robot.launch
+```
++ Control burger with keyboard
+```
+(Remote PC)>roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
+```
+
 # Working with turtlebot3 waffle with arm
 
 Also the TurtleBot3 can be used as a mobile manipulator capable of manipulating an object by attaching a manipulator like OpenMANIPULATOR. The OpenMANIPULATOR has the advantage of being compatible with TurtleBot3 Waffle and Waffle Pi. Through this compatibility can compensate for the lack of freedom and can have greater completeness as a service robot with the the SLAM and navigation capabilities that the TurtleBot3 has
@@ -32,3 +58,29 @@ Also the TurtleBot3 can be used as a mobile manipulator capable of manipulating
 ## Specification
 
 ## getting started
+
++ Configure environment variable of remote PC in bashrc
+```
+(Remote PC)>export TURTLEBOT3_MODEL=waffle_pi
+(Remote PC)>export ROS_MASTER_URI=http://IP_OF_ROSCORE:11311
+(Remote PC)>export ROS_HOSTNAME=IP_OF_REMOTEPC
+```
++ Configure environment variable of waffle in bashrc
+```
+(Waffle)>export TURTLEBOT3_MODEL=waffle_ip
+(Waffle)>export ROS_MASTER_URI=http://IP_OF_ROSCORE:11311
+(Waffle)>export ROS_HOSTNAME=IP_OF_WAFFLE
+```
++ Launch roscore
+```
+(Remote PC)>roscore
+```
++ Start waffle
+```
+(Remote PC)>ssh pi@{IP_ADDRESS_OF_BURGER}
+(Waffle)>roslaunch turtlebot3_bringup turtlebot3_robot.launch
+```
++ Control waffle with keyboard
+```
+(Remote PC)>roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
+```