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Note: This tutorial assumes that you have completed the previous tutorials: TurtleBot Bringup, PC Bringup.
(!) 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.

The TurtleBot Follower Demo

Description: This describes how to run the TurtleBot Follower Demo on your TurtleBot.

Tutorial Level: BEGINNER

Next Tutorial: Turtlebot Panorama

Follower Demo

The follower demo will cause the TurtleBot to look for objects in a window in front of it. And it will seek to keep the centroid of the observed objects directly in front of it and a fixed distance away. If the centroid of the object is too far away it will drive forward, too close backward, and if offset to the side it will turn toward the centroid.

Start Demo

Start by ssh-ing (ssh help) into the TurtleBot and start the follower demo:

Changing Follower Parameters

  1. Run the dynamic reconfigure gui on your workstation computer.
    • # pre-groovy
      rosrun dynamic_reconfigure reconfigure_gui
      # groovy or later
      rosrun rqt_reconfigure rqt_reconfigure
  2. Select camera/follower on the reconfigure gui
  3. Play with the parameters using the sliders; you will see the TurtleBot's following behavior change as you move the sliders.

Android client

As you will learn in the Turtlebot-Android Pairing, you can also launch the follower demo and start/stop following behavior from your Android device. Exciting? then move on!

What Next?

2020-04-04 13:19