Before we make an attempt to control the TurtleBot 2 from a remote computer, it is wise to test the TurtleBot 2 in standalone mode. TurtleBot will be powered on and we will use its netbook to check whether the robot is operational on its own.
To prepare the TurtleBot, the following steps should be performed:
ROS_MASTER_URI
IP address.Ensure that ROS environment variables are configured correctly on the netbook. Refer to the Netbook network setup section in Chapter 3, Driving Around with TurtleBot, and the Configuring TurtleBot and installing 3D sensor software section of this chapter.
To test the operation of the TurtleBot 2's 3D sensor in standalone mode, perform the following steps on the netbook:
$ roslaunch turtlebot_bringup minimal.launch
$ roslaunch freenect_launch freenect.launch
If you are using an ASUS or Carmine sensor, start the camera nodelets using the following command:
$ roslaunch openni2_launch openni2.launch
If you are using an Intel RealSense camera, start the camera nodelets using the following command that corresponds to the correct camera type:
$ roslaunch realsense_camera r200_nodelet_default.launch $ roslaunch realsense_camera sr300_nodelet_default.launch $ roslaunch realsense_camera zr300_nodelet_default.launch
If these commands run on TurtleBot with no errors, you are ready to proceed with running 3D visualizations from the remote computer. If you receive errors, such as No devices connected…
, make sure that the correct camera drivers are installed, as described in the Configuring TurtleBot and installing 3D sensor software section of this chapter. Also, make sure that the TurtleBot base is powered on.