fiware_ros_turtlebot3_operator

This ros package controls "turtlebot3" robot (both actual robot and simulator).

Description

command_receiver

This ROS node subscribes a ROS topic and receive a command from fiware_ros_turtlebot3_bridge. And this node publishes a serise of messages to /cmd_vel topic according to the received command in order to operate "turtlebot3".

attribute_sender

This ROS node subscribes the /odom topic in order to receive the current position and current quaternion of "turtlebot3". When this node receives a new message, this node calculates the euler angle of z axis, and publishes a current position and angle to a ROS topic.

Requirement

ROS kinetic

Prepare

configure parameters to operate "turtlebot3"

$ cp src/fiware_ros_turtlebot3_bridge/config/mqtt.yaml.template src/fiware_ros_turtlebot3_bridge/config/mqtt.yaml
$ vi src/fiware_ros_turtlebot3_bridge/config/mqtt.yaml

How to Run

$ roslaunch fiware_ros_turtlebot3_operator fiware_ros_turtlebot3_operator.launch

License

Apache License 2.0

Copyright

Copyright (c) 2018 TIS Inc.