Turtlebot 구동

1)remote pc

roscore

 

2)ssh pc

ssh <username>@192.168.x.168

sudo chmod a+rw /dev/ttyACM0 #Lidar 

sudo chmod a+rw /dev/ttyUSB0 # 카메라

roslaunch turtlebot3_bringup turtlebot3_robot.launch

 

3)mapping

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

 

 

4)rviz

roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/way/map.yaml

 

5)localization and path planning

python patrol_fspm.py