8. Bringup

_images/remote_pc_and_turtlebot.png

Note

This instruction was tested on Ubuntu 16.04 and ROS Kinetic Kame.

Warning

This instruction is intended to be run on the remote PC. If you are following the instruction on TurtleBot, please do NOT run roscore command.

Warning

Make sure that IP address on each device is set correctly.

Warning

When the battery voltage is lower than 11V, the buzzer alarm will continuously sound and actuators will be disabled. The battery must be recharged when the buzzer alarm sounds.

Tip

Before start bringup TurtleBot3, We recommend you add export command to bashrc depend on your TurtleBot3(burger or waffle)

gedit ~/.bashrc
_images/bashrc.png
source ~/.bashrc

8.1. Bringup TurtleBot3

Tip

The terminal application can be found with the Ubuntu search icon on the top left corner of the screen. Shortcut key for terminal is Ctrl-Alt-T.

[Remote PC] Run roscore.

roscore

8.1.1. TurtleBot3 Burger

[TurtleBot] Bring up basic packages to start TurtleBot3 applications.

roslaunch turtlebot3_bringup turtlebot3_robot.launch

Tip

If you want to launch Lidar sensor and core separately, please use below commands.

roslaunch turtlebot3_bringup turtlebot3_lidar.launch
roslaunch turtlebot3_bringup turtlebot3_core.launch

Note

If lost sync with device error message is displayed on the terminal window, the sensor device of TurtleBot3 might not be securely connected.

[Remote PC] Run RViz

export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_bringup turtlebot3_model.launch
_images/rviz_burger_model.jpg

8.1.2. TurtleBot3 Waffle

[TurtleBot] Bring up basic packages to start TurtleBot3 applications.

roslaunch turtlebot3_bringup turtlebot3_robot.launch

Tip

If you want to launch Lidar sensor, Intel® RealSense™ R200 and core separately, please use below commands.

roslaunch turtlebot3_bringup turtlebot3_lidar.launch
roslaunch turtlebot3_bringup turtlebot3_realsense.launch
roslaunch turtlebot3_bringup turtlebot3_core.launch

Note

If lost sync with device error message is displayed on the terminal window, sensor devices of the TurtleBot3 might not be securely connected.

[Remote PC] Run RViz

export TURTLEBOT3_MODEL=waffle
roslaunch turtlebot3_bringup turtlebot3_model.launch
_images/rviz_waffle_model.jpg

In the next chapter, you will be able to test TurtleBot3 with various teleoperation methods.