ROS Programming: Building Powerful Robots

Working with TurtleBot simulation in VR

We can start a TurtleBot simulation using the following command:

    $ roslaunch turtlebot_gazebo turtlebot_playground.launch

You will get the TurtleBot simulation in Gazebo like this:

Figure 17: TurtleBot simulation in Gazebo

You can move the robot by launching the teleop node with the following command:

    $ roslaunch turtlebot_teleop keyboard_teleop.launch

You can now move the robot using the keyboard. Launch the app again and connect to the ROS master running on the PC. Then, you can remap the Gazebo RGB image compressed data into an app image topic, like this:

    $ rosrun topic_tools relay /camera/rgb/image_raw/compressed ...