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risckaust · May 4, 2021 · b51b525 · b51b525
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Showing 8 changed files with 8 additions and 15 deletions.
diff --git a/adds b/adds
diff --git a/docs/_static/kobuki.jpg b/docs/_static/kobuki.jpg
diff --git a/docs/_static/kobuki.png b/docs/_static/kobuki.png
diff --git a/docs/_static/turtlebot-gazebo.png b/docs/_static/turtlebot-gazebo.png
diff --git a/docs/new pics/Screenshot from 2021-05-04 14-34-21.png b/docs/new pics/Screenshot from 2021-05-04 14-34-21.png
diff --git a/docs/new pics/Screenshot from 2021-05-04 14-34-48.png b/docs/new pics/Screenshot from 2021-05-04 14-34-48.png
diff --git a/docs/source/1-ros-basics.rst b/docs/source/1-ros-basics.rst
@@ -77,7 +77,7 @@ Install TurtleBot packages
 
 During this tutorial, you will work with a simulated robot called **TurtleBot3**, to apply the concepts of ROS. The following image is a picture of the robot you will work with. It is a differential drive robot, that has a Kinect sensor for environmental mapping, wheel encoders for position estimation.
 
-.. image:: ../_static/kobuki.jpg
+.. image:: ../_static/kobuki.png
    :scale: 50 %
    :align: center
 
@@ -118,7 +118,7 @@ Execute in a separate terminal:
 
 .. code-block:: bash
 
-  roslaunch turtlebot_teleop keyboard_teleop.launch
+roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch 
 
 Read the instructions on the screen to know which keys to use to move the robot around, and start moving the robot!
 

diff --git a/src/additional_install.sh b/src/additional_install.sh
@@ -26,21 +26,16 @@ pip3 install packaging
 pip3 install toml
 pip3 install numpy
 pip3 install jinja2
+pip3 install pyros-genmsg
+
 sudo apt-get install libgstreamer1.0-0 gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-doc gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio -y
+
+## Build the firmware without running
 DONT_RUN=1 make px4_sitl_default gazebo
 
-#source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
-#export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd):$(pwd)/Tools/sitl_gazebo
 
 ## Setup environment variables
 
-#echo "source /home/risc/src/Firmware/Tools/setup_gazebo.bash" >> ~/.bashrc
-#echo "source /home/risc/src/Firmware" >> ~/.bashrc
-#echo "source /home/risc/src/Firmware/build/px4_sitl_default" >> ~/.bashrc
-#echo "export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/risc/src/Firmware:/home/risc/src/Firmware/Tools/sitl_gazebo" >> ~/.bashrc
+echo "source /home/risc/src/Firmware/Tools/setup_gazebo.bash /home/risc/src/Firmware /home/risc/src/Firmware/build/px4_sitl_default" >> ~/.bashrc
 
-cd ~/catkin_ws/src
-ln -s ~/src/Firmware/ px4
-ln -s ~/src/Firmware/Tools/sitl_gazebo/ mavlink_sitl_gazebo
-catkin build
-source ~/.bashrc
+echo "export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/risc/src/Firmware:/home/risc/src/Firmware/Tools/sitl_gazebo" >> ~/.bashrc