ROS Robotics By Example

Navigating with TurtleBot

Launch files for TurtleBot will create ROS nodes either remotely on the TurtleBot netbook (via SSH to TurtleBot) or locally on the remote computer. As a general rule, the launch files (and nodes) that handle the GUI and visualization processing should run on the remote computer while the minimal launch and camera drivers should run on the TurtleBot netbook. Note that we will specify when to SSH to TurtleBot for a ROS command or omit the SSH for using a ROS command on the remote computer.

Mapping a room with TurtleBot

TurtleBot can autonomously drive around its environment if a map is made of the environment. The 3D sensor is used to create a 2D map of the room as the TurtleBot is driven around either by a joystick, keyboard, ...