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Operating Instructions
5.3. ROS 1 Applications
This section describes how to build, compile, and run several applications with ROS 1 on NeuronBot, and provides
instructions on configuring NeuronBot for the following applications:
Teleoperation
: Move the NeuronBot using a keyboard and scan the surrounding environment using 2D LiDAR.
RViz (
ROS-VIsualiZation
)
monitoring
: Monitor Neuronbot during movement and laser scanning using RViz,
a
powerful 3D visualization environment for ROS
.
Simultaneous Localization And Mapping (SLAM)
: Configure NeuronBot to build a map during teleoperation.
Guided navigation
: Navigate NeuronBot from a starting point to a destination using a map created with a
SLAM package.
5.3.1. Driver Startup and Teleoperation
To begin teleoperating NeuronBot, you must start the ROS driver in addition to all IO connections and sensory
devices such as the motor controller, encoder odometry, laser scanner, and IMU state estimation.
Terminal 1:
1. Open the terminal.
2. Set up the SSH connection to access the NeuronBot remotely on your computer.
ssh –X [email protected]
3. Start Byobu to run multiple sessions on a single SSH connection.
Note:
“Session” means a window in a single terminal with an SSH connection to a NeuronBot.
byobu
•
Session 0:
4.
Source the environment.
source /opt/ros/<YOUR_ROS1_DISTRO>/setup.bash
5. Launch the roscore.
Note:
The “roscore” is the “core” of the ROS. We recommend manually starting the core in a separate window
for improved access and control.
roscore
•
Session 1:
6. Source the environment.
source /opt/ros/<YOUR_ROS1_DISTRO>/setup.bash
source ~/neuronbot2_ros1_ws/devel/setup.bash
7. Launch NeuronBot.
Note:
This launch file contains multiple nodes and enables communication between the motor controller, laser
SLAM, and all NeuronBot TF definitions. If you end the node with
ctrl + c
, remember only to press once and
allow it to shut down automatically. The rplidarNode node requires some time to shut down the serial port.
roslaunch neuronbot2_bringup bringup.launch
•
Session 2:
8. Source the environment.
source /opt/ros/<YOUR_ROS1_DISTRO>/setup.bash