Turtlebot Starter Guide

Connecting to the Turtlebot

  1. Make sure that you’re logged onto the 'tufts_eecs' wifi network

    2. The password is 'foundedin1883'

  2. Turn on the turtlebot (on/off switch is on the right of the base)
    3. Turtlebot On/Off Switch
  3. On the turtlebot, type 'ifconfig' and make note of the ip address. It should look something like this:
    4. Turtlebot IP Address
  4. In the terminal on your computer, type 'ssh turtlebot@'. It should look like this:
    5. SSH Command

    You will have to enter the password for the turtlebot, which is 'turtlebot'.

Running Files on the Turtlebot

  1. In the terminal you’ve ssh’d into on your computer, in a new tab type 'roslaunch turtlebot_bringup minimal.launch --screen'
    2. roslaunch Command
  2. To teleoperate the turtlebot with the keyboard, ssh into a new tab on your computer, then run 'roslaunch turtlebot_teleop keyboard_teleop.launch'
    3. Teleoperation Keys

    Use the keys below to control the turtlebot:

    Teleoperation Keys Legend
  3. To copy files from your computer to the turtlebot, on your computer (NOT in the terminal you’ve ssh’d into) type 'scp -r '

    4. An example of this is: 'scp -r example_folder/example_file.py turtlebot@'.

    To specify further in your target you can add a colon (':'). An example of this is 'scp -r example_folder/example_file.py turtlebot@:specific_folder/'

    Something to note: You don’t need to ssh into the turtlebot to run scp, but it’s usually useful if you have a terminal connected to the turtlebot so you can check if the files have correctly copied over.

Launching the Camera

  1. On your computer, type 'roslaunch astra_camera astra.launch'

Debugging

If you try to run a file on your computer (NOT in the terminal you’ve ssh’d into) and you run into an error like the following:

Error Message

then print the ROS_MASTER_URI using the command 'echo $ROS_MASTER_URI'.

If you get a result that looks something like this:

ROS_MASTER_URI Result

Then you’ll need to run the command 'export ROS_MASTER_URI=http://:11311':

Export Command

Now try running the file again. It should be successful this time:

Successful Execution