Learning Robotics using Python - Second Edition

Moving the robot

The differential drive plugin of the robot is capable of receiving ROS Twist messages (geometry_msgs/Twist), which consist of the current linear and angular velocities of the robot. The teleoperation of the robot means moving the robot manually using a joy stick or keyboard by using ROS Twist messages. We will now look at how to move the Turtlebot 2 robot using keyboard teleoperation.

We have to install a package to teleoperate the TurtleBot 2 robot. The following command will install the TurtleBot teleoperation package:

    $ sudo apt-get install ros-kinetic-turtlebot-teleop  

To start teleoperation, we have to start the Gazebo simulator first, and then start the teleoperation node using the following command:

    $ roslaunch turtlebot_teleop ...