Hands-On ROS for Robotics Programming

Real-world and simulation at once

Since we will be working with the robot, we need to specify the ROS master in the laptop so that it's pointing to GoPiGo3. To do so, uncomment the following line in your local .bashrc file to switch back to that configuration:

export ROS_MASTER_URI=http://gopigo3.local:11311

Instead of killing the rest of the bash Terminals, you can reload the updated .bashrc in each of them:

$ source ~/.bashrc

Now, you are ready to execute ROS with both versions of GoPiGo3:

1. First, launch the robot:

$ roslaunch mygopigo gopigo3.launch

2. Then, launch the rest of the ROS environment on the laptop. First, launch the keyboard control:

T1 $ rosrun key_teleop key_teleop.py /key_vel:=/cmd_vel

3. Next, launch the virtual model: