Week-5

Let’s begin the teleoperation

Search for mobile robot for RO2 dashing ends here!

We got Dolly, a differential drive mobile robot.

Teleoperation tool a ROS1 and ROS2 interface for controlling dolly robot and turtlebot.

Tasks for this week

• Test the dolly robot movement with command line publisher (Done)

  

• Test the twist_keyboard in c++ for ROS1 (Done)

  Make sure you hvae turtlebot drivers installed by sudo apt-get install ros-melodic-turtlebot3*

  source /opt/ros/melodic/setup.bash

  cd catkin_ws

  catkin_make

  cd src

  git clone 'repo.git'

  cd..

  catkin_make

  source devel/setup.bash

  rosrun teleop_twist_keyboard_cpp teleop_twist_keyboard

• Connect the twist_keyboard to turtlebot and control it (Done)

  Steps:

  Terminal 1:

  source /opt/ros/melodic/setup.bash

  roscore

  Terminal 2:

  source /opt/ros/melodic/setup.bash

  export TURTLEBOT3_MODEL=burger

  roslaunch turtlebot3_gazebo turtlebot3_world.launch

  Terminal 3:

  Follow instructions for Test the twist_keyboard in c++ for ROS1

  

(Video is not much clear, I will make a better video )

• Code out the twist_keyboard in c++ for ROS2

• Connect the ROS2 teleoperator keyboard to dolly robot

(Done with Python driver)

Steps

Terminal 1:

cd ros2_ws

cd src 

git clone 'repo.git'

cd ..

colcon build --symlink-install

cd ..

. ./ros2_ws/install/setup.bash

teleop_twist_keyboard /cmd_vel:=/dolly/cmd_vel

Terminal 2:

        cd ~/ws
        
        colcon build
        
        . /usr/share/gazebo/setup.sh
        
        . ~/ws/install/setup.bash
        
        export GAZEBO_RESOURCE_PATH=/home/`whoami`/ws/src/dolly/dolly_gazebo/worlds:${GAZEBO_RESOURCE_PATH}
        
        export GAZEBO_MODEL_PATH=/home/`whoami`/ws/src/dolly/dolly_gazebo/models:${GAZEBO_MODEL_PATH}
    
        ros2 launch dolly_gazebo dolly.launch.py world:=dolly_empty.world

• Create Interface for ROS1 + ROS2 teleoperator

Python Interface:

• ROS1 working

• ROS2 working