Note: This tutorial assumes that you have completed the previous tutorials: TurtleBot Bringup, PC Bringup.
(!) Please ask about problems and questions regarding this tutorial on Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

A First Interaction

Description: Run your first interaction with the turtlebot - chatter!

Keywords: turtlebot

Tutorial Level: BEGINNER

Next Tutorial: Visualisation


We are going to start a talker-listener pair over the robot-pc connection as described in the Interacting with your Turtlebot tutorial.


Bootstrap the turtle, i.e. launch minimal.



Install rocon_remocon to use rocon_remocon and rqt_remocon

  > sudo apt-get install ros-indigo-rocon-remocon ros-indigo-rocon-apps

RQT Remocon

  • Make sure your ROS_MASTER_URI/ROS_HOSTNAME are configured properly. This is very important.

  • Source your environment.
  • Call the remocon.

> rqt_remocon
  • Choose the PC pairing role.
  • Double click on the Listener interaction.



This begins a talker on the robot and a listener on the pc.


Rocon Remocon

The rocon remocon gives you the ability to connect to the running turtlebot and run the same interactions from a different master. It basically sandboxes an environment with ROS_MASTER_URI/ROS_HOSTNAME configured to the turtelbot's settings and runs whatever pc side applications need to be run (roslaunch/rosrun/chrome/qt app) inside that sandbox.

Note: This is not true multimaster as you are still running components in a sandboxed environment locked into to the turtlebot's master. It does however let you discover/cache your robot uri's and let you run without having to continually reset your ROS_MASTER_URI/ROS_HOSTNAME.

> rocon_remocon
  • Add a master


  • Proceed as for the rqt remocon.

What Next?

Visualisation or return to the TurtleBot main page.

Wiki: turtlebot/Tutorials/indigo/A First Interaction (last edited 2016-04-13 09:38:34 by JennyCao)