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How to set the initial position of the turtlebot?

asked 2020-04-06 16:58:08 -0600

Govind gravatar image


I am trying to get a turtlebot tove from point A to B. But, but i dont have the turtlebot set at my desired starting position in my world map. How do I launch the programme, with the turtlebot already set at my desired start position?

Thank You

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answered 2020-04-07 15:06:14 -0600

Weasfas gravatar image

Hi @Govind,

If you take a look at the turtlebot3_world.launch file, they provided three parameters to stablish the XYZ Coordinates to spawn the model.

You can change those parameters in the file itself or provide your position values as arguments in the launch file:

roslaunch turtlebot3_gazebo turtlebot3_world.launch x_pos:=5 y_pos:=2 z_pos=0

On the other hand if you are using turtlebot 1 you will need to use the environmental variable ROBOT_INITIAL_POSE provided in the include files. You can do this in a terminal:

export ROBOT_INITIAL_POSE="-x 5 -y 2 -z 0"
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Asked: 2020-04-06 16:58:08 -0600

Seen: 770 times

Last updated: Apr 07 '20