turtlebot 벽 피하는 코드 실행

bashrc에서 Remote PC 의 ROS_HOSTNAME 및 ROS_MASTER_URI를 설정한다.

Turtlebot3 SBC의 ROS_HOSTNAME 및 ROS_MASTER_URI를 설정한다.
+ ROS_MASTER_URI 에 remote pc의 ip를 포함시킬 것.
ex) export ROS_MASTER_URI=http://{remote pc ip}:11311

remote pc에서 roscore 실행

turtlebot에서 roslaunch turtlebot3_bringup turtlebot3_robot.launch --screen

remote pc에서 roslaunch turtlebot3_gazebo turtlebot3_simulation.launch

SSH를 사용하여 remote pc에서 원격으로 Turtlebot3 SBC에 접속할 수 있다.
ssh  turtlebot 사용자명@turtlebot IP
ex) $ ssh turtlebot@192.168.0.19

 

@ slam 실행
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_slam turtlebot3_slam.launch

http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/

ROBOTIS e-Manual

 

+ turtlebot3_simulations/turtlebot3_gazebo

turtlebot3/turtlebot3_slam

필요한 패키지는 위 링크에서 찾아서 다운.

 

http://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#turtlebot3-simulation-using-gazebo

ROBOTIS e-Manual

 

$ cd ~/catkin_ws/src/

$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

$ cd ~/catkin_ws && catkin_make