Frequently used commands.

🕹️ To Bringup your Virtual InsperBot on Gazebo

Open your robotica.sh file

gedit ~/robotica.sh

Make sure that these lines are commented out as in the picture below:

🚚 Run one of the available Scenarios

Open a new terminal with Crtl + Shift + T and run:

roslaunch insperbot burger_4_andar.launch

roslaunch insperbot caixas.launch

roslaunch insperbot circuito.launch

roslaunch insperbot corredor.launch

roslaunch insperbot corrida_de_obstaculos.launch

roslaunch insperbot cruzamento.launch

roslaunch insperbot encaixotado.launch

roslaunch insperbot forca.launch

roslaunch insperbot forca_random.launch

roslaunch insperbot formas.launch

roslaunch insperbot labirinto.launch

roslaunch insperbot mesa.launch

roslaunch insperbot pista_s2.launch

roslaunch insperbot pista_u.launch

roslaunch insperbot retangulos.launch

roslaunch insperbot salinha.launch

roslaunch insperbot zig-zag.launch

🎮 To Enable gripper control

roslaunch insperbot arm_control.launch

How to control the robot’s gripper

Arm (joint1):

To up:

rostopic pub -1 /joint1_position_controller/command std_msgs/Float64 "data: 1.5"

To Forward:

rostopic pub -1 /joint1_position_controller/command std_msgs/Float64 "data: 0"

To Down:

rostopic pub -1 /joint1_position_controller/command std_msgs/Float64 "data: -1.5"

Gripper (joint2 and joint3)

To close the gripper:

rostopic pub -1 /joint2_position_controller/command std_msgs/Float64 "data: 0"

To open the gripper:

rostopic pub -1 /joint2_position_controller/command std_msgs/Float64 "data: -1"

🤖 To Bringup your Real InsperBot

Find the IP Adress and Network avaliable on display of your InsperBot, connect in the same network.

Uncommenting the corresponding lines in your robotica.sh, update the IP Adress and save.

gedit ~/robotica.sh

Finally, the bring up:

On your PC, open a new terminal and:

Call a roscore

roscore

A nother one:

roslaunch turtlebot3_bringup turtlebot3_remote.launch

To teleop:

roslaunch turtlebot_teleop keyboard_teleop.launch

To open the camera:

rqt_image_view

To list the available topics :

rostopic list

To access some specific topic:

rostopic echo topic_here