Backup diff of (Turtlebot2)Follower vs current(No. 1)

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- 1 (2019-10-28 (Mon) 00:20:44)
- 2 (2019-10-28 (Mon) 03:02:10)
- 3 (2019-10-31 (Thu) 06:11:16)
- 4 (2019-10-31 (Thu) 18:45:46)
- 5 (2019-11-07 (Thu) 16:12:56)
- 6 (2020-02-04 (Tue) 15:24:00)
- 7 (2021-08-18 (Wed) 02:33:43)

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[[Tutorial using ROS for ver.3]]

* Turtlebot2 follows humans [#turtlebot2_follower]
&color(red){&size(40){ROS Noetic Not Supported};};

** Startup procedure [#y3f07e57]

First, start Ubuntu. Then start Windows.
* Turtlebot2 follows a human [#turtlebot2_follower]

** Startup Procedure [#y3f07e57]

Start the Ubuntu side and then the Windows side.

*** Ubuntu side startup procedure [#ge25aa6a]

Open a new terminal and run the following command:
 $ roslaunch sigverse_turtlebot2 follower.launch 


*** Windows startup procedure [#u521891c]
*** Windows side startup procedure [#u521891c]

Start the [Assets/SIGVerse/SampleScenes/Turtlebot2/Turtlebot2Follower(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]].
Start the [Assets/SIGVerse/ExampleScenes/Turtlebot2/Turtlebot2Follower(.unity)] scene with reference to [[here>Tutorial using ROS for ver.3#open_scene]].


** Run [#b584cb20]

When the cross key is operated with the focus on the Windows Unity screen, the avatar moves and TurtleBot2 follows the avatar.
When you press the arrow key after focusing on the Unity screen, the human avatar moves and TurtleBot2 follows the avatar.

* If you want to check the TurtleBot2 camera image on the ROS side, you can check it with the following command. [#nd329491]
~* 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. [#n6bdd122]
 $ roslaunch turtlebot_rviz_launchers view_robot.launch
If you want to finish, stop the Unity side and then the ROS side.

When exiting, stop the Unity side before exiting the ROS side.

Unity side(The details may differ from the latest version)
#ref(TurtleBot2Follower.png)


''Reference Video'' 
#youtube(7TpCKHicDF0)

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#counter