Tutorial using ROS for ver.3

Turtlebot2 follows a human

Startup Procedure

Start the Ubuntu side and then the Windows side.

Ubuntu side startup procedure

Open a new terminal and run the following command:

$ roslaunch sigverse_turtlebot2 follower.launch 

Windows side startup procedure

Start the [Assets/SIGVerse/ExampleScenes/Turtlebot2/Turtlebot2Follower(.unity)] scene with reference to here.

Run

When you press the arrow key after focusing on the Unity screen, the human avatar moves and TurtleBot2 follows the avatar.

* To check the TurtleBot2 camera image on the ROS side, execute the following command.

$ rosrun image_view image_view image:=/camera/rgb/image_raw

* You can also check with rviz.

$ roslaunch turtlebot_rviz_launchers view_robot.launch

If you want to finish, stop the Unity side and then the ROS side.

TurtleBot2Follower.png

Reference Video


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Last-modified: 2020-02-04 (Tue) 15:24:00 (124d)