Hood NUC Bringup 2 Dashing 202003
From wikidb
March 1, 2020
Contents
References
Pre Requisites
Environment Variables
The enviornment variables have be set in .bashrc. See
USB Permissions
The USB permissions have been set for /dev/ttyACM0 (OpenCR) and /dev/ttyUSB0 (lidar). See
NOTE: If this hasn't been done, the following is required.
$ sudo chmod 666 /dev/ttyUSB0
[sudo] password for eepp:
$ sudo chmod 666 /dev/ttyACM0
Bringup TurtleBot3
Section 17.1 from Robotis Turtlebot 3 eManual
Signs of Life
TERMINAL 1
$ ros2 launch turtlebot3_bringup robot.launch.py
TERMINAL 2: Check for topics
$ ros2 topic list
/battery_state
/cmd_vel
/imu
/joint_states
/magnetic_field
/odom
/parameter_events
/robot_description
/rosout
/sensor_state
/tf
/tf_static
Check for publish and subscribe set up
$ rqt_graph
Teleop
TERMINAL 2
$ ros2 run turtlebot3_teleop teleop_keyboard
Control Your TurtleBot3!
---------------------------
Moving around:
w
a s d
x
w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)
space key, s : force stop
CTRL-C to quit
currently: linear velocity 0.01 angular velocity 0.0
currently: linear velocity 0.02 angular velocity 0.0
currently: linear velocity 0.03 angular velocity 0.0
currently: linear velocity 0.04 angular velocity 0.0
currently: linear velocity 0.05 angular velocity 0.0
Pressed the 'w' key to bring the motors up to speed.
NOTE: Be sure to have the focus in terminal 2. If not, the keystroke will not be captured by the teleop program.
$ rqt_graph
RVIZ
Section 17.1 from Robotis Turtlebot 3 eManual
ros2 launch turtlebot3_bringup rviz2.launch.py
ERROR: scan error in rviz Transform
Could not transform from [base_scan] to [odom]
- Hood NUC ROS 2 Scan to Odom transform 202003 Notes and Logs
- rviz2.launch.py comes up with missing base_scan to odom transfomations
TBD:
