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Do not use these tutorials directly, access them instead via the Hansbot Main Page.


The first officially supported release is for indigo.

The first officially supported release is for indigo.

The first officially supported release is for indigo.

The first officially supported release is for indigo.

(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Hansbot Tutorials

Description: Start to use the Hansbot

Keywords: hansbot

Tutorial Level: BEGINNER

Goal

This tutorial helps you to bringup hansbot, move it around, and try Gmapping and AMCL on it.

Configurations

Download & Compile

This tutorial assumes that you have learned how to use catkin workspaces. Here we just provide link to opensource packages:

More packages will be uploaded soon.

Connect to Industrial PC on Hansbot

Set a Wi-Fi hotspot with SSID named wireless. Hansbot will connect it automatically. Once connected, login Hansbot via SSH. The IP is fixed to 192.168.1.151:

   1 ssh hans@192.168.1.151
   2 # password: 123

Remote Control with Another PC

We recommend to set the ROS master on Hansbot PC. You need to set ROS_MASTER_URI and ROS_HOSTNAME first:

   1 export ROS_MASTER_URI=http://192.168.1.151:11311
   2 export ROS_HOSTNAME=localhost

Remember to recover ROS_MASTER_URI back to localhost if you want to run ROS master in the same terminal later:

   1 export ROS_MASTER_URI=http://localhost:11311

Bringup & Move

Bringup hansbot

Run the following command on Hansbot's PC:

roslaunch hansbot_bringup minimal.launch --screen

Arrow Key Control

roslaunch hansbase_keyop keyop.launch

This will send geometry_msgs/Twist messages to move Hansbot around. You can also control it with turtlebot_teleop:

roslaunch turtlebot_teleop keyboard_teleop.launch --screen

Mapping & Navigation

Gmapping demo

roslaunch hansbot_navigation gmapping_demo.launch

When the map is satisfying, use map_server to save it (named mymap here). Start another terminal:

rosrun map_server map_saver -f mymap

The AMCL localization and navigation demo

Run AMCL localization and navigation demo in another terminal, the map file is still named mymap here:

roslaunch hansbot_navigation amcl_demo.launch map_file:=mymap.yaml

Start RViz and try to give a navigation goal to Hansbot:

roslaunch hansbot_rviz_launcher view_navigation.launch

Create a new tutorial:

The latest officially supported release is for indigo.


2019-04-20 12:42