Connecting to the robots in the lab

Once you verified that your code works in simulation, you can test it with the real robots.

NOTE: make sure you have TERMINATED EVERYTHING EXCEPT ROSCORE on the lab machine BEFORE you bring-up the TurtleBot. If Gazebo or any code is running when you try and bring-up the robot, it won't work :)

In order to run your program with the robots,

1. Turn on the robots, if you don't have a battery, ask one of your TAs.
2. Leave the Turtlebots safely on the floor, or on the desk on top of realsense boxes, so that they don't move abruptly.
3. Login to the lab machines with the team passwords given to you.
4. In the lab machine, ssh team@turtlebot and login with the passwords sent to you on Teams (the turtlebot passwords are different than your team passwords.
5. You will see team@turtlebot on the terminal, check the name is the same with the robot on your desk.
6. On the robot, cd catkin_ws and source devel/setup.bash
7. On the robot, run roslaunch turtlebot3_bringup turtlebot3_robot.launch. Make sure you have roscore running on a local terminal!
8. Move onto your own machine and run your script.
9. Enjoy the operation of your amazing program!

In order to connect the cameras:

1. On the turtlebot, keep everything else running except for your code :) (i.e. roscore on PC and bringup on turtlebot),
2. On the turtlebot: run roslaunch realsense2_camera rs_camera.launch align_depth:=true
3. Test that you receive the image topic with a rostopic echo