03-5-启动

本文档由北京小芽科技翻译，原文来自于ROBOTIS官方技术文档。

3.5 启动

3.5.1 运行 roscore

在PC上运行roscore

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$ roscore

3.5.2 启动 TurtleBot3

1. 用Ctrl+Alt+T从电脑上打开一个新的终端，用Raspberry Pi的IP地址连接它。

   默认密码是turtlebot。

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   $ ssh pi@{IP_ADDRESS_OF_RASPBERRY_PI}
   

2. 调出基础包，启动TurtleBot3应用程序。

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   $ roslaunch turtlebot3_bringup turtlebot3_robot.launch
   

3. 如果TurtleBot3模型是 burger，终端将打印以下信息。

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   SUMMARY
   ========
      
   PARAMETERS
   * /rosdistro: kinetic
   * /rosversion: 1.12.13
   * /turtlebot3_core/baud: 115200
   * /turtlebot3_core/port: /dev/ttyACM0
   * /turtlebot3_core/tf_prefix:
   * /turtlebot3_lds/frame_id: base_scan
   * /turtlebot3_lds/port: /dev/ttyUSB0
      
   NODES
   /
       turtlebot3_core (rosserial_python/serial_node.py)
       turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
       turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)
      
   ROS_MASTER_URI=http://192.168.1.2:11311
      
   process[turtlebot3_core-1]: started with pid [14198]
   process[turtlebot3_lds-2]: started with pid [14199]
   process[turtlebot3_diagnostics-3]: started with pid [14200]
   [INFO] [1531306690.947198]: ROS Serial Python Node
   [INFO] [1531306691.000143]: Connecting to /dev/ttyACM0 at 115200 baud
   [INFO] [1531306693.522019]: Note: publish buffer size is 1024 bytes
   [INFO] [1531306693.525615]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]
   [INFO] [1531306693.544159]: Setup publisher on version_info [turtlebot3_msgs/VersionInfo]
   [INFO] [1531306693.620722]: Setup publisher on imu [sensor_msgs/Imu]
   [INFO] [1531306693.642319]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]
   [INFO] [1531306693.687786]: Setup publisher on odom [nav_msgs/Odometry]
   [INFO] [1531306693.706260]: Setup publisher on joint_states [sensor_msgs/JointState]
   [INFO] [1531306693.722754]: Setup publisher on battery_state [sensor_msgs/BatteryState]
   [INFO] [1531306693.759059]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]
   [INFO] [1531306695.979057]: Setup publisher on /tf [tf/tfMessage]
   [INFO] [1531306696.007135]: Note: subscribe buffer size is 1024 bytes
   [INFO] [1531306696.009083]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
   [INFO] [1531306696.040047]: Setup subscriber on sound [turtlebot3_msgs/Sound]
   [INFO] [1531306696.069571]: Setup subscriber on motor_power [std_msgs/Bool]
   [INFO] [1531306696.096364]: Setup subscriber on reset [std_msgs/Empty]
   [INFO] [1531306696.390979]: Setup TF on Odometry [odom]
   [INFO] [1531306696.394314]: Setup TF on IMU [imu_link]
   [INFO] [1531306696.397498]: Setup TF on MagneticField [mag_link]
   [INFO] [1531306696.400537]: Setup TF on JointState [base_link]
   [INFO] [1531306696.407813]: --------------------------
   [INFO] [1531306696.411412]: Connected to OpenCR board!
   [INFO] [1531306696.415140]: This core(v1.2.1) is compatible with TB3 Burger
   [INFO] [1531306696.418398]: --------------------------
   [INFO] [1531306696.421749]: Start Calibration of Gyro
   [INFO] [1531306698.953226]: Calibration End