This project uses the planned trajectory from Project 3 part 2 and publish it to Turtlebot.
- Shaotu Jia
- Zejiang Zeng
- Prerequisites: generate trajectory using the program of project 3 part 2. project_3
- Clone this package to ROS workspace
$ cd ~/your_workspace/src
$ git clone https://github.com/ShaotuJia/pub_velo_turtlebot.git
- Set up the trajectory by changing a sequence of velocity mode in mode_lists(line 72~73 in src/main.cpp).
- Define the rostopic that the velocities will be published.(line 80 in src/main.cpp)
- Complie code
$ catkin_make
- Launch gazebo and initial the pose of turtlebot; change the value in line 25 of navigate.launch
$ source devel/setup.bash
$ roslaunch pub_velo navigate.launch
- Change the turtlebot orientation using teleop
$ roslaunch turtlebot_teleop keyboard_teleop.launch
- Run node pub_velo and publish the velocities
$ rosrun pub_velo pub_velo
- Install and configure based on TurtleBot 3 Manual. Manual_Link
- Define the rostopic that remote PC will publish to, usually it is "/cmd_vel". (line 80 in src/main.cpp)
- Compile code in remote PC
$ cd ~/your_workspace
$ catkin_make
- Bring up basic packages to start TurtleBot3 applications.(TurtleBot)
$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
- Run node to publish velocities to TurtleBot 3. (remote PC)
$ rosrun pub_velo pub_velo