TurtleBot Status

STATUS: DISCONNECTED

Instructions

1. On the TurtleBot, run the following commands in separate terminals:
   • roscore
   • roslaunch tbot2_launch tbot2.launch
   • roslaunch rosbridge_server rosbridge_websocket.launch
   • roslaunch tbot2_launch amcl_navigation.launch ssl:=true certfile:=/home/turtlebot/server_cert.pem keyfile:=/home/turtlebot/server_key.pem authenticate:=false
     • Optional: add map_file:=/path/to/map/file.yaml to specify a map file
     • This command will launch an rviz window. Tell the TurtleBot its current position by entering a 2D Pose Estimate.
   • rosrun robot_pose_publisher robot_pose_publisher
2. On this webpage, enter IP Address and Port Number in the format 0.0.0.0:0000. Default port is 9090.
   • If this doesn't connect, try navigating to https://ip:port/
3. Click "Connect".
4. If the status says "CONNECTED," you have successfully connected to the TurtleBot's webserver. Else, something has gone wrong.