Teleoperation and Navigation

01. Follow Getting Started in this wiki:

Getting-Started

02. Teleoperation

The Turtlebot 2i supports the turtlebot_teleop package which works with multiple input devices. You must first start the kobuki base controllers by running any launch file that contains mobile base startup. Then, choose your input device and run either command below:

• To control the robot base with a keyboard launch:

  • roslaunch turtlebot_teleop keyboard_teleop.launch

• To control the robot base with a PS3 controller launch:

  • roslaunch turtlebot_teleop ps3_teleop.launch

03. Navigation

With the TurtleBot localized, it can autonomously plan through the environment.

To send a goal:

1. Click the "2D Nav Goal" button
2. Click on the map where you want the TurtleBot to drive and drag in the direction the TurtleBot should be pointing at the end. This can fail if the path or goal is blocked.

If you want to stop the robot before it reaches it's goal, send it a goal at it's current location.

References:

• http://wiki.ros.org/turtlebot_teleop
• http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot#Autonomous_Navigation
• http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map#Teleoperation