# Turtlebot usage

###### tags: `Turtlebot`
[TOC]

## SSH into turtlebot
ssh turtle1
## How to use the respository on the pc?
* **The respository** already in turtlebot?
Only need respository in turtlebot, don't need in main pc?
* Main pc only runs **roscore**?
* **WHich branch** to use? (dev/master)
* How to **bring up the turtlebot** (turtlebot_igmr_bringup.launch)

roslaunch turtlebot_igmr_bringup turtlebot_igmr_bringup.launch namespace:=turtlebot_<NR> slam:=True joy:=True

* Turtlebot namespace? turtlebot_<NR>
* How to manually operate the turtlebot? (teleop? ps4?) (does joy means using ps4 joystick?)
* How to navigate the turtlebot?
Since no lidar on the turtlebot, could not use slam? could not navigate by simply with the turtlebot_igmr_navigation.launch.
* Need to create a new map? Or use the exsiting map (home/last_map.yaml)?
How to create a new map based on aruco tags? Slam always false?
* What planner do you normally use?

### (From dev branch) 2.6 Test the Turtlebot

* Send goals to the MoveBase framework

rostopic pub /turtlebot_2/move_base_simple/goal geometry_msgs/PoseStamped "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
pose:
  position:
    x: 0.0
    y: 0.0
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 1.0"

* If a new map of the environment should be taken:

* Connect the PS4 controller with the turtlebot. For this, press and hold the *share* and *playstation icon* button simultaneously until the light of the controller starts to blink - two times fast. Then press the button with the playstation icon again. The light of the controller should stop blinking and turn blue when connected with the turtlebot

* Start the launch file with the corresponding arguments

    roslaunch turtlebot_igmr_bringup turtlebot_igmr_bringup.launch namespace:=turtlebot_<NR> slam:=True joy:=True

* Start rviz and add a *map* entry. You can also add a *RobotModel* and a *tf* entry

* Navigate in the environment until the map is complete enough. When you are satisfied with the outcome, save the map on the turtlebot with

    roslaunch turtlebot_igmr_localization save_map.launch

* The new map will be automatically be saved in *home* and loaded next time when the Mobile Manipulator is brought up.
### (From dev branch) 2.4. Bring Up the Mobile Manipulators

#### Step 1

Start on the main PC a rosmaster.

#### Step 2 (Option 1)

* Log in over ssh to the turtlebot's NUC and turtlebot's raspberry and start the corresponding bringup files

  roslaunch open_manipulator_on_turtlebot_igmr_bringup mobile_manipulator_bringup.launch turtlebot_namespace:=$TURTLEBOT_NAMESPACE open_manipulator_namespace:=$OPEN_MANIPULATOR_NAMESPACE mobile_manipulator_namespace:=$MOBILE_MANIPULATOR_NAMESPACE"
  
  roslaunch raspberrypi_bringup raspberrypi_bringup.launch open_manipulator_namespace:=$OPEN_MANIPULATOR_NAMESPACE mobile_manipulator_namespace:=$MOBILE_MANIPULATOR_NAMESPACE

* Pay attention to the namespace. *TURTLEBOT_NAMESPACE* is usually *turtlebot_<NR>*, *OPEN_MANIPULATOR_NAMESPACE* is usually *open_manipulator_<NR>*, and the *MOBILE_MANIPULATOR_NAMESPACE* is usually *mobile_manipulator_<NR>*

#### Step 2 (Option 2)

* Ssh on the turtlebot<NR> and comment out the four lines following `If not running interactively, don't do anything` the .bashrc file, if not already done
* Ssh on the raspberrypi_turtlebot<NR> and comment out the four lines following `If not running interactively, don't do anything` the .bashrc file, if not already done
* Copy the *open_manipulator_on_turtlebot_igmr* metapackage to the PC where the ROS master should run (usually the main PC)
* Start the mobile manipulators with the bash scripts from the *open_manipulator_on_turtlebot_igmr_bringup/scripts* folder of the copied metapackage (`mobile_manipulator<NR>_start.sh`).

## How to connect my PC to the network?

* Name of PC: $ hostname
### 2.4. Network Configurations

rosmaster should run on a main PC, while the Mobile Manipulators will just connect to it. To be able to exchange all required data between the different PC, execute the following steps:

* Add in the **etc/hosts file of all PCs** ***the IPs and the names of the other PCs*** (e.g. main PC, turtlebot NUC, turtlebot RaspberryPi)
**So should I add my PCs name to the hosts file of all other PCS?**
* Define in the .bashrc file of the main PC that it is the master
* Define in the .bashrc file from the NUCs and the Raspberries that the main PC hosts the rosmaster.
**How should I specify the rosmaster in my PC? Simply add name?**

## Run ROS Nodes in main PC
* Is it allowed?
* Could I clone packages from my respository and create a workspace here to run?
Would the files be cleaned up daily? Where should I put my workspace at?