Home

Installation

On both the desktop and turtlebot, Create a catkin workspace, and add robot_vector_control to the src directory
catkin_make the workspace
On the desktop, in your rosbuild workspace, download and install
3d_interaction (groovy-devel branch)
glass_ros
rosmake your rosbuild worspace
Install turtlebot-simulator (needed for running in simulation only): sudo apt-get install ros-hydro-turtlebot-simulator
Configure glass

Start the turtlebot simulator: roslaunch turtlebot_gazebo turtlebot_playground.launch. Ignore any errors about missing models.
Startup turtlebot navigation: roslaunch robot_vector_control turtlebot_move_base.launch
Startup rviz: rosrun rviz rviz `rospack find robot_vector_control`/marker_control.rviz
Start the required desktop components: roslaunch robot_vector_control desktop.launch use_glass:=false
Move the interactive marker so it is pointing at the ground somewhere within a few meters of the robot
Send a click: rostopic pub /click std_msgs/Empty -1
The robot should autonomously navigate to the intersected point.

Bringup the turtlebot
Start the Kinect: roslaunch openni_launch openni.launch
Startup turtlebot navigation on the robot: roslaunch robot_vector_control turtlebot_move_base.launch

Start the required desktop components on your desktop/laptop: roslaunch desktop.launch use_glass:=false
Start rviz (rosrun rviz rviz) and use this config file: .../robot_vector_control/marker_control.rviz
Move the interactive marker so it is pointing at the ground somewhere within a few meters of the robot
Send a click: rostopic pub /click std_msgs/Empty -1
The robot should autonomously navigate to the intersected point.

Start the required desktop components on your desktop/laptop: roslaunch robot_vector_control desktop.launch use_glass:=true ip:=[desktop/laptop ip] port:=[port]
Generate QR code at http://zxing.appspot.com/generator/ by choosing "Text" from the drop-down menu and entering the IP address and port number in the form IP:port (e.g. 192.168.1.113:9999)
Start the sensor bridge app on glass and point it at the QR code
Start RViz (rosrun rviz rviz) and use this config file: .../robot_vector_control/marker_control.rviz
Move the interactive marker in RViz so that the glass pose matches the pose in the real world (for example, put the turtlebot next to you, facing in the same direction, and adjust the marker so the frames match)
Look turn to face the floor somewhere within a few meters of a the turtlebot and double-wink or tap the side of glass
The robot should autonomously navigate to the intersected point.