Hood NUC Bringup Investigate 202012
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Contents
References
- Robotis emanual Bringup section 3.5
Experiments
Bringup scripts are:
$ pwd
/home/eepp/turtlebot3_ws_2_1_0/src/turtlebot3/turtlebot3/turtlebot3_bringup/launch
$ ls
robot.launch.py rviz2.launch.py turtlebot3_state_publisher.launch.py
See Terminal 1 in Hood_NUC_Bringup_2_Dashing_202003 and Hood_NUC_Navigation_202006 where robot.launch.py is fired off. Three processes are spun off. For example, in one possible result is:
- 7749: robot_state_publisher
- 7750: hlds_laser_publisher
- 7751: turtlebot3_node
$ ps -aux | grep state_publisher
eepp 7749 0.6 0.1 521488 21004 pts/1 Sl+ 15:04 1:07 /opt/ros/dashing/lib/robot_state_publisher/robot_state_publisher /home/eepp/turtlebot3_ws_2_1_0/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_waffle.urdf __node:=robot_state_publisher __params:=/tmp/launch_params_een1mth8
$ ps -aux | grep laser_publisher
eepp 7750 2.6 0.1 492676 19180 pts/1 Sl+ 15:04 4:13 /home/eepp/turtlebot3_ws_2_1_0/install/hls_lfcd_lds_driver/lib/hls_lfcd_lds_driver/hlds_laser_publisher __node:=hlds_laser_publisher __params:=/tmp/launch_params_iy0efdww
$ ps -aux | grep turtlebot3_ros
eepp 7751 6.0 0.3 871328 59252 pts/1 Sl+ 15:04 2:35 /home/eepp/turtlebot3_ws_2_1_0/install/turtlebot3_node/lib/turtlebot3_node/turtlebot3_ros -i /dev/ttyACM0 __params:=/home/eepp/turtlebot3_ws_2_1_0/install/turtlebot3_bringup/share/turtlebot3_bringup/param/waffle.yaml
Do any of these processes have the responsibility for creating a [base_link] to [map] transform? If not who does?
eepp@hood:launch$ rqt_graph [2]+ Done emacs robot.launch.py
$ ros2 topic list
/battery_state
/cmd_vel
/imu
/joint_states
/magnetic_field
/odom
/parameter_events
/robot_description
/rosout
/scan
/sensor_state
/tf
/tf_static
$ ros2 node list
/launch_ros
/robot_state_publisher
/hlds_laser_publisher
/turtlebot3_node
/diff_drive_controller
$ rqt_graph
TBD
- Investigate /tmp/launch_params_* for the laser_publisher process
