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Basic Rospy code to get a turtlebot to move forward and rotate.

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KaleabTessera/rospy-turtlebot-move-and-rotate

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rospy-turtlebot-move-and-rotate

Basic Rospy code to move turtlebot forward and rotate for x number of seconds.

Unfortunely, for now docker version of ROS has issues relating to real sense lib, so manual download on VM or local is required.

How to install:

  1. Install Ubuntu 16.04

  2. Install ROS Kinetic full desktop version http://wiki.ros.org/kinetic/Installation/Ubuntu

  3. Install Extra Packages for turtlebots https://yainnoware.blogspot.com/2018/09/install-turtlebot-on-ros-kinetic-ubuntu.html

  4. If you are using VM - Fix issue with listening on image view (rosrun image_view image_view image:=/camera/rgb/image_raw fails) https://stackoverflow.com/questions/55181205/gazebo-crashing-when-subscribing-to-scan

How to Run:

  • Ensure main node is running
    • roslaunch turtlebot_bringup minimal.launchOR roslaunch turtlebot_gazebo turtlebot_world.launch
  • Run move.py in specified pacakage.
    • rosrun [package] move.py

Errors

  • If running in simulator and you are having issues with time durations:
    • rosparam set /use_sim_time false