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How do I know if PC is connected to my turtlebot?

asked 2017-07-27 11:16:49 -0500

rozoalex gravatar image

For some reason, we think the opencr board on out turtlebot3 was damaged and motors are not working, so teleop is not an option. I tried to setup the remote PC. I followed exactly http://turtlebot3.readthedocs.io/en/l... When I typed in

rosrun rviz rviz -d `rospack find turtlebot3_slam`/rviz/turtlebot3_slam.rviz

I got this:

image description

I don't think this was what supposed to look like. Because in the simulator, before I got the robot I used the simulator. Once I start slam, it will show the current surround even without moving teleop. I don't think the robot is correctly connected to my pc, so the RVis is just running on its own.

How do I exactly know if the robot is "connected" to my pc (without using teleop)? Or maybe I am wrong, this is what supposed to happen.

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answered 2017-11-26 16:24:25 -0500

tfoote gravatar image

From the comments replying to @Marq if you only see /rosout and /rosout_agg you're likely connecting to a rosmaster that is standalone and not on the robot.

You will need to return to your network settings and validate everything in your bringup to make sure you substitude the right values for the robot and workstation IPs.

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answered 2018-07-04 03:46:49 -0500

skydddive gravatar image

you can use ping ip_of_turtlebotfrom your workstation.

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answered 2017-07-27 15:56:09 -0500

Marq gravatar image

Did you bringup the turtlebot before starting rviz? Run this command on the turtlebot after starting roscore on your host PC. You should see the LIDAR start spinning and the turtlebot will be ready to start taking commands.

turtlebot3_bringup turtlebot3_robot.launch
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Yes I did bringup the tb before starting rviz. I wonder if the pc is correctly connected with tb. Is there a way to tell?

rozoalex gravatar image rozoalex  ( 2017-07-27 16:20:27 -0500 )edit
1

After you have started roscore on the host PC and successfully launched the bringup on the turtlebot you can open another terminal on the host PC and type

rostopic list

If you only see

/rosout
/rosout_agg

then you are not connected to the turtlebot.

Marq gravatar image Marq  ( 2017-07-27 16:38:54 -0500 )edit
2

You can also ping each computer.

In a terminal of the host PC type

ping <ip of turtlebot>

on the turtlebot single board computer

 ping <ip of host PC>

If you don't know the IP address of each machine see the network configuration chapter of the turtlebot docs.

Marq gravatar image Marq  ( 2017-07-27 16:55:39 -0500 )edit

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Asked: 2017-07-27 11:16:49 -0500

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Last updated: Jul 04 '18