04/11/21             02:25:21 PM

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3_ROS_NavagationI_geditMenu_gaz_teleop_RVIZ_4_4_2021.txt

Let's show Gazebo and RVIZ

$ roslaunch turtlebot_gazebo turtlebot_world.launch 
$ ps
$ roslaunch turtlebot_teleop keyboard_teleop.launch
$ rosnode info gazebo 
$ rostopic echo /odom/pose  -n 1 
$ rostopic echo /odom/pose 
$ roslaunch turtlebot_rviz_launchers view_robot.launch 


1. Terminal 1 Gazebo 
$ roslaunch turtlebot_gazebo turtlebot_world.launch 

	1a. Look at the software:   PARAMETERS  NODES  processes
    	Minimize the terminal but do not close.

	1b. Look at Gazebo Edit:Reset Model or World If Needed)  Show left Panel/  	Main Top Menu/  Toolbar
 	Select model and show pose. Select physics and show gravity.

1a. New Terminal:
$ ps
	use $top to see processes   gzclient  and gzserver  Note PID to kill if 	needed


2. Keyboard    
$ roslaunch turtlebot_teleop keyboard_teleop.launch 

Cntl+alt 4 (Gazebo)/  cntl + alt 6 for KBD Terminal  (Windows side by side)   
 (See KBD shortcuts)

u    i    o        To move Turtle/ keep focus on keyboard window
j    k    l		 K is TB. I is his +x, l is cw rotation
m    ,    .

2a. Move Turtlebot and show pose.
$ rosnode info gazebo    
	Publishes /odom [nav_msgs/Odometry]

2b New Terminal Look at /odom, Gazebo and KBD terminal
$ rostopic echo /odom/pose  -n 1
	pose: One output : 

2c. Move Turtlebot with KB and view /odom change   (Focus on KBD terminal- watch Gazebo and /odom (Continuous output)      Move TB
$ rostopic echo /odom/pose





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3. New Terminal RVIZ  (Text  Pg 171)
$ roslaunch turtlebot_rviz_launchers view_robot.launch 
 a. GlobalOptions> Change Fixed Frame > ODOM Laser Scan Topic (Open Dropdown =   /scan) 
 b. Display ADD Robot Model (If not selected), Axes (Change reference frame = base_footprint), Point Cloud > Camera/depth/points.

Adjust size of image to see cloud. 

3a. Move Turtlebot with KBD  K is Turtlebot



    

















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