Installation

Turtlebot

TODO

Debs

> sudo apt-get install ros-groovy-ros-full ros-groovy-ros-tutorials 
> sudo apt-get install ros-groovy-common-tutorials ros-groovy-zeroconf-avahi-suite
> sudo apt-get install ros-groovy-rqt ros-groovy-qt_gui-core

Sources

> rosws init ~/turtles https://raw.github.com/robotics-in-concert/rocon_tutorials/master/turtle_concert.rosinstall
> source ~/turtles/setup.bash
> cd ~/turtles
> rosws update
> rosdep install turtle_race_concert
> rosmake turtle_race_concert

Demo

Bootstrapping

Let's bootstrap all the robots as well as the centralised concert master. Source setup.bash in the three robots and the pc announcer. Then in each

# The concert master
> roslaunch --port=11311 turtle_race_concert concert.launch
# Three turtlebot clients
> roslaunch --port=11312 turtle_race_concert bach.launch
> roslaunch --port=11313 turtle_race_concert chopin.launch
> roslaunch --port=11314 turtle_race_concert donizetti.launch
# A pc software client
> roslaunch --port=11315 turtle_race_concert announcer.launch

At this point, the concert master recognises all the concert clients have been loaded (it is pre-configured via the orchestra node) and is ready to run, but first, let's look around.

Starting the Solution

The orchestration component of the concert master is pre-loaded with a solution. Think of this as a multimaster launch file which launches apps (launchers) on each robot instead of nodes.

From the concert workspace (ROS_MASTER_URI=http://localhost:11311)

> rosservice call /concert/start_solution

Viewing the Gateway Graph

Have a gander and see what topics and services are getting the love (i.e. shared around):

> rosrun rocon_gateway_graph rqt_gateway_graph

Wrapping Up

Put the turtles to sleep. Again, from the concert workspace (ROS_MASTER_URI=http://localhost:11311)

> rosservice call /concert/stop_solution

Screenshot