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| turtlebot:firstlaunch [2023/09/19 08:43] – [Remote Connections] classes | turtlebot:firstlaunch [2023/09/19 08:46] (current) – classes |
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| ====== Turtlebot: First Time Running ====== | ====== Turtlebot: First Time Running ====== |
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| Alright, so it's your first time with the Turtlebot. Where to begin? The online [[http://http://wiki.ros.org/turtlebot/Tutorials| Turtlebot ROS wiki]] has some tutorials/tips on how to start. Now, the Turtlebot and Workstations have been configured, so that's no big deal. You are ready to "Get Started." | Alright, so it's your first time with the Turtlebot. Where to begin? The online [[http://http://wiki.ros.org/turtlebot/Tutorials| Turtlebot ROS wiki]] has some tutorials/tips on how to start. Once they've been skimmed, you are ready to "Get Started." |
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| Most likely, if you are new to the Turtlebot, then you are new to ROS (Robot Operating System). ROS is a bunch of written code that runs on top of the standard operating system with lots of functionalities and operations like those of an operating system but tailored to Robotics. A colleague at University of South Carolina has written a book if you would like a primer on ROS (Jason O'Kane, [[ http://www.cse.sc.edu/~jokane/agitr/ | A Gentle Introduction to ROS]]). Most of the time, you will have to run the robot's "operating system" in order to interact with and control the robot. This is described in the "Bringup" set of [[http://wiki.ros.org/turtlebot_bringup/Tutorials/indigo/TurtleBot%20Bringup | tutorials]]. They have some instructions, that you should read and roughly understand, but the ones below are what I recommend. | Most likely, if you are new to the Turtlebot, then you are new to ROS (Robot Operating System). ROS is a bunch of written code that runs on top of the standard operating system with lots of functionalities and operations like those of an operating system but tailored to Robotics. A colleague at University of South Carolina has written a book if you would like a primer on ROS (Jason O'Kane, [[ http://www.cse.sc.edu/~jokane/agitr/ | A Gentle Introduction to ROS]]). Most of the time, you will have to run the robot's "operating system" in order to interact with and control the robot. It permits different processes to communicate with each other without having to worry too much about the low level implementation, or by permitting as much worry as you'd like. Launching this core "operating system" part is described in the "Bringup" set of [[http://wiki.ros.org/turtlebot_bringup/Tutorials/indigo/TurtleBot%20Bringup | tutorials]]. They have some instructions, that you should read and roughly understand, but the ones below are what I recommend. |
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| **1. Launch Turtlebot ROS: ** First, log into the laptop using your username/password, connect to wifi, then open up a terminal (Usually by hitting the funny icon at the top left and then typing terminal). As per the [[ttp://wiki.ros.org/turtlebot_bringup/Tutorials/indigo/TurtleBot%20Bringup | bringup tutorial]], the launch process involves typing: | **1. Launch Turtlebot ROS: ** First, log into the laptop using your username/password, connect to wifi, then open up a terminal (Usually by hitting the funny icon at the top left and then typing terminal). As per the [[ttp://wiki.ros.org/turtlebot_bringup/Tutorials/indigo/TurtleBot%20Bringup | bringup tutorial]], the launch process involves typing: |
| You may have to use the command line to look around. Perhaps ROS has a function for finding where things are located. In linux it is normally called which, maybe there is a roswhich or something similar. You may have to google to find it. Or maybe the teleop code is online somewhere to read. | You may have to use the command line to look around. Perhaps ROS has a function for finding where things are located. In linux it is normally called which, maybe there is a roswhich or something similar. You may have to google to find it. Or maybe the teleop code is online somewhere to read. |
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| === Remote Connections === | ===== Remote Connections ===== |
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| Teleoperation usually involves establishing a remote connection to the robot from another machine. There are a few option for doing so. One way is to use the remote machine and ssh to the Turtlebot's laptop. | Teleoperation usually involves establishing a remote connection to the robot from another machine. There are a few option for doing so. One way is to use the remote machine and ssh to the Turtlebot's laptop. |
