SetUp Proj-1

Remote

# new terminal
roscore

# new terminal
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

# new terminal
roslaunch turtlebot3_bringup turtlebot3_remote.launch

# new terminal
roslaunch comp3431_starter ass1.launch

Note: When working in Gazebo, need to change camera topics.

Turtlebot

ssh turtlebot
roslaunch turtlebot3_bringup turtlebot3_robot.launch

# new terminal
roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch

To ensure that Markers on Rviz are in fixed frame. Set Fixed Frame as map.

Controls

roscd comp3431_start/scripts
python cmd_controller.py