Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Hansbot Tutorials

Goal

This tutorial helps you to bringup hansbot, move it around, and try Gmapping and AMCL on it.

Configurations

Download & Compile

This tutorial assumes that you have learned how to use catkin workspaces. Here we just provide link to opensource packages:

• hansbot_rviz_launchers

• hansbase_description

More packages will be uploaded soon.

Connect to Industrial PC on Hansbot

Set a Wi-Fi hotspot with SSID named wireless. Hansbot will connect it automatically. Once connected, login Hansbot via SSH. The IP is fixed to 192.168.1.151:

   1 ssh hans@192.168.1.151
   2 # password: 123

Remote Control with Another PC

We recommend to set the ROS master on Hansbot PC. You need to set ROS_MASTER_URI and ROS_HOSTNAME first:

   1 export ROS_MASTER_URI=http://192.168.1.151:11311
   2 export ROS_HOSTNAME=localhost

Remember to recover ROS_MASTER_URI back to localhost if you want to run ROS master in the same terminal later:

   1 export ROS_MASTER_URI=http://localhost:11311

Bringup & Move

Bringup hansbot

Run the following command on Hansbot's PC:

roslaunch hansbot_bringup minimal.launch --screen

Arrow Key Control

roslaunch hansbase_keyop keyop.launch

This will send geometry_msgs/Twist messages to move Hansbot around. You can also control it with turtlebot_teleop:

roslaunch turtlebot_teleop keyboard_teleop.launch --screen

Mapping & Navigation

Gmapping demo

roslaunch hansbot_navigation gmapping_demo.launch

When the map is satisfying, use map_server to save it (named mymap here). Start another terminal:

rosrun map_server map_saver -f mymap

The AMCL localization and navigation demo

Run AMCL localization and navigation demo in another terminal, the map file is still named mymap here:

roslaunch hansbot_navigation amcl_demo.launch map_file:=mymap.yaml

Start RViz and try to give a navigation goal to Hansbot:

roslaunch hansbot_rviz_launcher view_navigation.launch