Hood NUC Demo and Tests for Melih Install

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Initial Conditions

At system boot

  • OpenCR connected to NUC through USB
  • Power connected to OpenCR
  • OpenCR power turned on
  • LIDAR was connected but is not required. It is now unplugged.

Terminal Init

The following was moved to .bashrc 2/15/20 

 export TURTLEBOT3_MODEL=waffle
 source ~/ros2_all_ws/ros2_ws/install/setup.bash
 source ~/ros2_all_ws/turtlebot3_ws/install/setup.bash
 source ~/ros2_all_ws/navstack_dependencies_ws/install/setup.bash
 source ~/ros2_all_ws/navigation2_ws/install/setup.bash

System Bringup with robot.launch.py

Terminal 1' 

 ros2 launch turtlebot3_bringup robot.launch.py

Hood_NUC_Melih_ROS2_TB3_Bringup_and_Test#Bring_up_TB3 Bring up detal

Bringup Sanity Tests

Terminal 2

Test publishing 

 ros2 topic list

 rqt_graph

Bringup - Command based Motor Control

Terminal 2

Test Twist publish and subscribe 

 ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear: {x: 1.0}}' -1

 ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear: {x: 0.0}}' -1

Bringup - Keyboard based Motor Control

Terminal 2

ros2 run turtlebot3_teleop teleop_keyboard

Bring up RVIZ

Terminal 3

Initialize the terminal 

 eepp@hood:~$ ros2 launch turtlebot3_bringup rviz2.launch.py
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