| Note: This tutorial assumes that you have completed the previous tutorials: turtlebot_bringup/Tutorials/TurtleBot Bringup. |
How to control your TurtleBot from an Android device
Description: This will walk you through how to control your TurtleBot from an Android phone or tablet.Tutorial Level: BEGINNER
Wifi Setup
To connect between the TurtleBot and the Android device they must be on the same network.
Connect the Android device to the same wifi access point that the TurtleBot is connected to.
Download Android App
This is how to install the demo app published by Willow Garage. For more information on developing custom android apps see the Android Client wiki page
- Open the Android Market
- Search for "willow garage"
Install the "ROS Application Chooser" by Willow Garage, Inc.
Prepare the TurtleBot
As documented in the TurtleBot Bringup tutorial the turtlebot must be started. And remember the IP address of the TurtleBot.
Connect to the TurtleBot
- Launch the "App Chooser" from the application list.
- Click "Add Robot"
Type in the following using the IP address for the TurtleBot instead of TURTLEBOT_IP
http://TURTLEBOT_IP:11311
The TurtleBot should appear in a list of known robots.
- If you see connection reset by peer, I'm not sure what the issue is.
If you try to connect to a robot with the wrong address or if it is unreachable it will report XmlRpc.TimeoutException after 10 seconds of searching.
Select your TurtleBot
- Click on Chirp
You should hear the TurtleBot moo, if you don't check your network connectivity.
There are two battery indicators in the top right, and a gear. If the gear is red click on it. This will put the TurtleBot into "Active" mode, just like using the turtlebot_dashboard documented in the TurtleBot Bringup tutorial. All the same requirements exist such as the iRobot Create must be powered on first. If you get an "exception in service call to "set_operation_mode" that indicates that the Create driver is not running. Usually indicating that the Create is powered off or not plugged in.
There are two other apps built in which will work as distributed. Android Teleop will control the robot with a joystick interface on the touch screen. Follower will launch the TurtleBot in follower mode.
For the Create to recharge correctly the TurtleBot must be returned to passive mode. Press the green gear, and wait for it to turn red.