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Bringup

NOTE : This instruction was tested on Ubuntu 16.04 and ROS Kinetic Kame.

WARNING : This instruction is intended to be run on the remote PC. If you are following the instruction on TurtleBot, please do NOT run roscore command.

WARNING : Make sure that IP address on each device is set correctly.

WARNING : When the battery voltage is lower than 11V, the buzzer alarm will continuously sound and actuators will be disabled. The battery must be recharged when the buzzer alarm sounds.

NOTE : Before start bringup TurtleBot3, We recommend you add export command to bashrc depend on your TurtleBot3(burger or waffle or waffle_pi)

  gedit ~/.bashrc

  source ~/.bashrc

Bringup TurtleBot3

NOTE : The terminal application can be found with the Ubuntu search icon on the top left corner of the screen. Shortcut key for terminal is Ctrl-Alt-T.

[Remote PC] Run roscore.

$ roscore

TurtleBot3 Burger

[TurtleBot] Bring up basic packages to start TurtleBot3 applications.

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch

Tip : If you want to launch Lidar sensor and core separately, please use below commands.

$ roslaunch turtlebot3_bringup turtlebot3_lidar.launch
$ roslaunch turtlebot3_bringup turtlebot3_core.launch

NOTE : If lost sync with device error message is displayed on the terminal window, the sensor device of TurtleBot3 might not be securely connected.

[Remote PC] Run RViz

$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_bringup turtlebot3_remote.launch
$ rosrun rviz rviz -d `rospack find turtlebot3_description`/rviz/model.rviz

TurtleBot3 Waffle

[TurtleBot] Bring up basic packages to start TurtleBot3 applications.

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch

Tip : If you want to launch Lidar sensor, Intel® RealSense™ R200 and core separately, please use below commands.

$ roslaunch turtlebot3_bringup turtlebot3_lidar.launch
$ roslaunch turtlebot3_bringup turtlebot3_realsense.launch
$ roslaunch turtlebot3_bringup turtlebot3_core.launch

NOTE : Before you use Intel® RealSense™, please check related appendix Intel® RealSense™

NOTE : If lost sync with device error message is displayed on the terminal window, sensor devices of the TurtleBot3 might not be securely connected.

[Remote PC] Run RViz

$ export TURTLEBOT3_MODEL=waffle
$ roslaunch turtlebot3_bringup turtlebot3_remote.launch
$ rosrun rviz rviz -d `rospack find turtlebot3_description`/rviz/model.rviz

TurtleBot3 Waffle Pi

[TurtleBot] Bring up basic packages to start TurtleBot3 applications.

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch

Tip : If you want to launch Lidar sensor, Raspberry Pi Camera and core separately, please use below commands.

$ roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch
$ roslaunch turtlebot3_bringup turtlebot3_lidar.launch
$ roslaunch turtlebot3_bringup turtlebot3_core.launch

NOTE : Before you use Raspberry Pi Camera, please check related appendix Raspberry Pi Camera

NOTE : If lost sync with device error message is displayed on the terminal window, sensor devices of the TurtleBot3 might not be securely connected.

[Remote PC] Run RViz

$ export TURTLEBOT3_MODEL=waffle_pi
$ roslaunch turtlebot3_bringup turtlebot3_remote.launch
$ rosrun rviz rviz -d `rospack find turtlebot3_description`/rviz/model.rviz

In the next chapter, you will be able to test TurtleBot3 with various teleoperation methods.