TurtleBot Lab Guide

• The booking system is available at https://cw.felk.cvut.cz/brute/student/reservation.php.
• Create a team of at most three students for the semestral work assignment in BRUTE.
• Each team can book one robot for four 45min time slots.
• Each team can book the playground only for a single 45min time slot.
• Every two slots contain a 15min break, so that the slots are aligned with the school schedule hours.
• Note: All the robots are already reserved for ARO students during the ARO lab slots. There is no need to book the robots for your ARO lab slot, just take one.

• Login on a desktop computer.
• Create and build (re-use if you have some) your student workspace, e.g. ~/workspace/aro, extending parent ARO workspace /opt/ros/aro using Singularity image /opt/singularity/robolab/robolab_noetic_2023-05-02:

  singularity shell /opt/singularity/robolab/robolab_noetic_2023-05-02
  
  ws=~/workspace/aro
  mkdir -p "${ws}/src"
  cd "${ws}/src"
  # Get and modify course-specific packages here.
  
  cd "${ws}"
  catkin init
  catkin config --extend /opt/ros/aro
  catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
  catkin build -c
  
  source "${ws}/devel/setup.bash"

• Select a TurtleBot from turtle08 to turtle13, turn it on.
  • Follow the general robolab guide.
• Both the desktop and robot uses the same network home directory. The workspace you configured above is directly available on the robot.
• In a new terminal, SSH to your robot (use hostname of your robot), and run robot drivers from within your workspace:

  ssh -Y -C turtle08
  
  singularity shell /opt/singularity/robolab/robolab_noetic_2023-05-02
  
  #In case responsiveness of a robot is poor, you can try to run local copy of singularity image instead, first you have to mount local storage
  $> mount /local
  $> singularity shell /local/robolab_noetic_2023-05-02.simg
  $> source /opt/ros/robolab/setup.bash
  
  
  ws=~/workspace/aro
  source "${ws}/devel/setup.bash"
  export HOSTNAME=$(hostname)
  roslaunch robolab_bringup turtlebot2.launch

• Visualize or process robot data (use hostname of your robot) from a desktop. Run on a desktop terminal:

  singularity shell /opt/singularity/robolab/robolab_noetic_2023-05-02
  
  ws=~/workspace/aro
  source "${ws}/devel/setup.bash"
  export ROS_MASTER_URI=http://turtle08:11311
  
  rostopic list
  rosrun rqt_tf_tree rqt_tf_tree
  rosrun rqt_graph rqt_graph
  rviz
  roslaunch kobuki_keyop safe_keyop.launch  # You may need to run this twice.
  rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/cmd_vel_mux/safety_controller _repeat_rate:=10.0 _key_timeout:=1.0 _speed:=0.25 _turn:=0.5

• Try running your SLAM implementation: roslaunch aro_slam aro_slam.launch
• Try controlling the robot with your aro_robocop package.
  • Remap control topic: <remap from="cmd_vel" to="/cmd_vel_mux/safety_controller"/>
• Try your exploration pipeline once it's ready.

• Select a TurtleBot from turtle08 to turtle13, turn it on.
• In terminal(s), SSH to your robot (use IP address of your robot on local wifi):

  ssh -Y -C 192.168.210.28

  – for robot 8, last address segment is robot number + 20.
• Mount local storage, launch singularity on the robot and source ROS:

  $> mount /local
  $> singularity shell /local/robolab_noetic_2023-05-02.simg
  $> source /opt/ros/robolab/setup.bash

• scp your workspace on the robot, *catkin clean* and *catkin build* and proceed as you would locally

aro_turtlebots_ubuntu22.pdf