Hood NUC Melih ROS2 TB3 Bringup and Test
From wikidb
Contents
Context
January 18, 2020
Reference
- Intel TB3 Tutorial: The Melih tutorial instructions.
- OpenCR 1.0 eManual section 3.2 User LED
See Melih "Test Turtlebot 3"
Test TB3
See Melih's tutorial section "Test Turtlebot 3"
Initial Conditions
- At system boot
- OpenCR connected
- Power connected to OpenCR
- OpenCR turned on
- LIDAR was connected but is not required. It is now unplugged.
Indicator LEDs
Initialize Each Terminal
Terminal 1
eepp@hood:turtlebot3_ws$ export TURTLEBOT3_MODEL=waffle
eepp@hood:turtlebot3_ws$ source ~/ros2_all_ws/ros2_ws/install/setup.bash
ROS_DISTRO was set to 'foxy' before. Please make sure that the environment does not mix paths from different distributions.
ROS_DISTRO was set to 'dashing' before. Please make sure that the environment does not mix paths from different distributions.
eepp@hood:turtlebot3_ws$ source ~/ros2_all_ws/turtlebot3_ws/install/setup.bash
ROS_DISTRO was set to 'foxy' before. Please make sure that the environment does not mix paths from different distributions.
ROS_DISTRO was set to 'dashing' before. Please make sure that the environment does not mix paths from different distributions.
eepp@hood:turtlebot3_ws$ source ~/ros2_all_ws/navstack_dependencies_ws/install/setup.bash
ROS_DISTRO was set to 'foxy' before. Please make sure that the environment does not mix paths from different distributions.
ROS_DISTRO was set to 'dashing' before. Please make sure that the environment does not mix paths from different distributions.
eepp@hood:turtlebot3_ws$ source ~/ros2_all_ws/navigation2_ws/install/setup.bash
ROS_DISTRO was set to 'foxy' before. Please make sure that the environment does not mix paths from different distributions.
ROS_DISTRO was set to 'dashing' before. Please make sure that the environment does not mix paths from different distributions.
Terminal 2
Same as terminal 1
Bring up TB3
Terminal 1
eepp@hood:~$ ros2 launch turtlebot3_bringup robot.launch.py
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-01-23-20-06-30-360853-hood-7179
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_waffle.urdf
[INFO] [robot_state_publisher-1]: process started with pid [7190]
[INFO] [hlds_laser_publisher-2]: process started with pid [7191]
[INFO] [turtlebot3_ros-3]: process started with pid [7192]
[robot_state_publisher-1] Initialize urdf model from file: /home/eepp/ros2_all_ws/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_waffle.urdf
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_link had 7 children
[robot_state_publisher-1] Link camera_link had 2 children
[robot_state_publisher-1] Link camera_depth_frame had 1 children
[robot_state_publisher-1] Link camera_depth_optical_frame had 0 children
[robot_state_publisher-1] Link camera_rgb_frame had 1 children
[robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children
[robot_state_publisher-1] Link caster_back_left_link had 0 children
[robot_state_publisher-1] Link caster_back_right_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link base_scan had 0 children
[robot_state_publisher-1] Link wheel_left_link had 0 children
[robot_state_publisher-1] Link wheel_right_link had 0 children
[robot_state_publisher-1] got segment base_footprint
[robot_state_publisher-1] got segment base_link
[robot_state_publisher-1] got segment base_scan
[robot_state_publisher-1] got segment camera_depth_frame
[robot_state_publisher-1] got segment camera_depth_optical_frame
[robot_state_publisher-1] got segment camera_link
[robot_state_publisher-1] got segment camera_rgb_frame
[robot_state_publisher-1] got segment camera_rgb_optical_frame
[robot_state_publisher-1] got segment caster_back_left_link
[robot_state_publisher-1] got segment caster_back_right_link
[robot_state_publisher-1] got segment imu_link
[robot_state_publisher-1] got segment wheel_left_link
[robot_state_publisher-1] got segment wheel_right_link
[turtlebot3_ros-3] [INFO] [1579838790.542159030] [turtlebot3_node]: Init TurtleBot3 Node Main
[turtlebot3_ros-3] [INFO] [1579838790.543214023] [turtlebot3_node]: Init DynamixelSDKWrapper
[turtlebot3_ros-3] [INFO] [1579838790.543598816] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
[turtlebot3_ros-3] [INFO] [1579838790.545177718] [DynamixelSDKWrapper]: Succeeded to change the baudrate!
[robot_state_publisher-1] Adding fixed segment from base_footprint to base_link
[robot_state_publisher-1] Adding fixed segment from base_link to camera_link
[robot_state_publisher-1] Adding fixed segment from camera_link to camera_depth_frame
[robot_state_publisher-1] Adding fixed segment from camera_depth_frame to camera_depth_optical_frame
[robot_state_publisher-1] Adding fixed segment from camera_link to camera_rgb_frame
[robot_state_publisher-1] Adding fixed segment from camera_rgb_frame to camera_rgb_optical_frame
[robot_state_publisher-1] Adding fixed segment from base_link to caster_back_left_link
[robot_state_publisher-1] Adding fixed segment from base_link to caster_back_right_link
[robot_state_publisher-1] Adding fixed segment from base_link to imu_link
[robot_state_publisher-1] Adding fixed segment from base_link to base_scan
[robot_state_publisher-1] Adding moving segment from base_link to wheel_left_link
[robot_state_publisher-1] Adding moving segment from base_link to wheel_right_link
[turtlebot3_ros-3] [INFO] [1579838790.588465931] [turtlebot3_node]: Start Calibration of Gyro
[turtlebot3_ros-3] [INFO] [1579838795.588973986] [turtlebot3_node]: Calibration End
[turtlebot3_ros-3] [INFO] [1579838795.589215048] [turtlebot3_node]: Add Motors
[turtlebot3_ros-3] [INFO] [1579838795.590737161] [turtlebot3_node]: Add Wheels
[turtlebot3_ros-3] [INFO] [1579838795.591533784] [turtlebot3_node]: Add Sensors
[turtlebot3_ros-3] [INFO] [1579838795.596105356] [turtlebot3_node]: Succeeded to create battery state publisher
[turtlebot3_ros-3] [INFO] [1579838795.597209449] [turtlebot3_node]: Succeeded to create imu publisher
[turtlebot3_ros-3] [INFO] [1579838795.599002722] [turtlebot3_node]: Succeeded to create sensor state publisher
[turtlebot3_ros-3] [INFO] [1579838795.599900611] [turtlebot3_node]: Succeeded to create joint state publisher
[turtlebot3_ros-3] [INFO] [1579838795.599999528] [turtlebot3_node]: Add Devices
[turtlebot3_ros-3] [INFO] [1579838795.600034230] [turtlebot3_node]: Succeeded to create motor power server
[turtlebot3_ros-3] [INFO] [1579838795.601941333] [turtlebot3_node]: Succeeded to create reset server
[turtlebot3_ros-3] [INFO] [1579838795.603099957] [turtlebot3_node]: Succeeded to create sound server
[turtlebot3_ros-3] [INFO] [1579838795.603867740] [turtlebot3_node]: Run!
[turtlebot3_ros-3] [INFO] [1579838795.622835516] [diff_drive_controller]: Init Odometry
[turtlebot3_ros-3] [INFO] [1579838795.627781779] [diff_drive_controller]: Run!
Indicator LEDs
- USER1: Amber blinking indicates pub/subscribe
- USER2: dido
- USER3: off
- USER4: Green on solid
- STATUS: off
- ARDUINO: Green blinking
- POWER: Green on solid
Sourch [OpenCR 1.0 Robotis eManual User LEDs Section 3.2
Test 2: Publish and subscribe
eepp@hood:~$ ros2 topic list
/battery_state
/cmd_vel
/imu
/joint_states
/magnetic_field
/odom
/parameter_events
/robot_description
/rosout
/scan
/sensor_state
/tf
/tf_static
Test 2: Motor test from command line
Start and stop motors
Terminal 2
eepp@hood:~$ ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear: {x: 1.0}}' -1
publisher: beginning loop
publishing #1: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=1.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))
eepp@hood:~$ ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear: {x: 0.0}}' -1
publisher: beginning loop
publishing #1: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))
Test 3: Motor test from keyboard
Terminal 2
eepp@hood:~$ 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
'w' pressed 15 times than a space. Motors rev up slowly
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
currently: linear velocity 0.060000000000000005 angular velocity 0.0
currently: linear velocity 0.07 angular velocity 0.0
currently: linear velocity 0.08 angular velocity 0.0
currently: linear velocity 0.09 angular velocity 0.0
currently: linear velocity 0.09999999999999999 angular velocity 0.0
currently: linear velocity 0.10999999999999999 angular velocity 0.0
currently: linear velocity 0.11999999999999998 angular velocity 0.0
currently: linear velocity 0.12999999999999998 angular velocity 0.0
currently: linear velocity 0.13999999999999999 angular velocity 0.0
currently: linear velocity 0.0 angular velocity 0.0
Explore
Create Node Graph
Terminal 3
Initialize the terminal
eepp@hood:~$ rqt_graph
Source: Author
Bring up RVIZ
Terminal 3
Initialize the terminal
eepp@hood:~$ ros2 launch turtlebot3_bringup rviz2.launch.py
terminal 1
ros2 launch turtlebot3_bringup robot.launch.py
terminal 2
ros2 launch turtlebot3_navigation2 navigation2.launch.py
Investigate Bringup Code
eepp@hood:turtlebot3_ws$ emacs install/turtlebot3_bringup/share/turtlebot3_bringup/launch/robot.launch.py&
