diff --git a/00_GettingStarted/docker/i2r/catkin_ws/src/moveit_tutorials b/00_GettingStarted/docker/i2r/catkin_ws/src/moveit_tutorials deleted file mode 160000 index f77a29c7c3281ae82c6a4d793c39bed61c45cfb4..0000000000000000000000000000000000000000 --- a/00_GettingStarted/docker/i2r/catkin_ws/src/moveit_tutorials +++ /dev/null @@ -1 +0,0 @@ -Subproject commit f77a29c7c3281ae82c6a4d793c39bed61c45cfb4 diff --git a/00_GettingStarted/docker/i2r/catkin_ws/src/panda_moveit_config b/00_GettingStarted/docker/i2r/catkin_ws/src/panda_moveit_config deleted file mode 160000 index 625be99465d1cf897297f0fde414f90349e3015f..0000000000000000000000000000000000000000 --- a/00_GettingStarted/docker/i2r/catkin_ws/src/panda_moveit_config +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 625be99465d1cf897297f0fde414f90349e3015f diff --git a/00_GettingStarted/docker/i2r/catkin_ws/src/task_3/scripts/simple_auto_drive.py b/00_GettingStarted/docker/i2r/catkin_ws/src/task_3/scripts/simple_auto_drive.py old mode 100644 new mode 100755 diff --git a/00_GettingStarted/docker/i2r/catkin_ws/src/universal_robot b/00_GettingStarted/docker/i2r/catkin_ws/src/universal_robot new file mode 160000 index 0000000000000000000000000000000000000000..6507bb6756d0065d49b76230ff55f875f099a827 --- /dev/null +++ b/00_GettingStarted/docker/i2r/catkin_ws/src/universal_robot @@ -0,0 +1 @@ +Subproject commit 6507bb6756d0065d49b76230ff55f875f099a827 diff --git a/04_MobileRobot/README.md b/04_MobileRobot/README.md new file mode 100644 index 0000000000000000000000000000000000000000..efa39c6f61133c3e696771e2dbf821e471d83147 --- /dev/null +++ b/04_MobileRobot/README.md @@ -0,0 +1,79 @@ +# Mobile robot + + +## Launching in Simulation + +- First install the package *turtlebot3_simulations* in your catkin workspace and build it. + + ```bash + cd ~/catkin_ws/src/ + ``` + + ```bash + git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git + ``` + + ```bash + cd ~/catkin_ws + ``` + + ```bash + catkin build + ``` + + ```bash + source ~/.bashrc + ``` + +- Export the name of the Turtlebot model we will use to the environment variable *TURTLEBOT3_MODEL* by the following command. Make sure to source the *.bashrc* file afterwards. + + ```bash + echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc + ``` + + ```bash + source ~/.bashrc + ``` + +- Now launch one of the predefined environments for `Gazebo` from the just installed **turtlebot3_gazebo** package. All the launch files with different envrionments can be listed to the terminal by the following commands. + + ```bash + roscd turtlebot3_gazebo + ``` + + ```bash + ls launch + ``` +- For the next examples we will use the **turtlebot3_world.launch** file. + + ```bash + roslaunch turtlebot3_gazebo turtlebot3_world.launch + ``` + +## Launching a SLAM node + +- Launching the SLAM node + + ```bash + roslaunch turtlebot3_slam turtlebot3_slam.launch + ``` + +- Operating the node using the keyboard. + + ```bash + roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch + ``` +- Operate the robot using a script. Maybe you have to make to skript *simple_auto_drive.py* executable. Following instructions show you how to make it executable. + + ```bash + roscd ~/catkind_ws/src/task_3/scripts + ``` + + ```bash + chmod +x simple_auto_drive.py + ``` + + ```bash + rosrun task_3 simple_auto_drive.py + ``` + You can stop the script by typing `Ctrl` + `C` into the terminal where the node is running. \ No newline at end of file