Basic setup - kyberszittya/turtlebot3_teb_local_planner GitHub Wiki

#Turtlebot3 setup Most of these steps are from the official turtlebot3 tutorials: http://emanual.robotis.com/docs/en/platform/turtlebot3/slam/#run-slam-nodes

You may use multiple terminals, ensure that before running any commands you are exporting the used robot identification (e.g. waffle):

export TURTLEBOT3_MODEL=waffle

Preliminaries

Startup roscore on one computer:

roscore

Ensure, that turtlebot is up and running and reachable from a computer. Enter it with an SSH command, and startup the following command on the robot's side:

export TURTLEBOT3_MODEL=waffle
roslaunch turtlebot3_bringup turtlebot3_robot.launch

Starting up

Start SLAM algorithm (OpenSLAM) on the PC side:

export TURTLEBOT3_MODEL=waffle
roslaunch turtlebot3_slam turtlebot3_slam.launch

Ensure SLAM works, you can move with teleop:

export TURTLEBOT3_MODEL=waffle
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Navigation

Startup TEB based navigation on the PC side:

export TURTLEBOT3_MODEL=waffle
roslaunch turtlebot3_teb_local_planner move_base.teb.labirintus.launch

Startup RPI camera

Start RPI camera on the robot's side:

roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch