Hood NUC Navigation 2 Dashing Binary 202003

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March 1, 2020

References

Problem??

Saw the following 12/19/20

  • SBC Setup Section 3.2.3 Configure the Raspberry Pi
  • Disable Automatic update 
 $ sudo nano /etc/apt/apt.conf.d/20auto-upgrades
  • Change the update settings as below. 
 APT::Periodic::Update-Package-Lists "0";
 APT::Periodic::Unattended-Upgrade "0";

Install ROS 2 Dependent Packages

Section 16.1.3 from Robotis Turtlebot 3 eManual 

 # Install Colcon
 $ sudo apt install python3-colcon-common-extensions
     [sudo] password for eepp: 
     Reading package lists... Done

 # Install Cartographer dependencies
 $ sudo apt install -y \
      google-mock \
      libceres-dev \
      liblua5.3-dev \
      libboost-dev \
      libboost-iostreams-dev \
      libprotobuf-dev \
      protobuf-compiler \
      libcairo2-dev \
      libpcl-dev \
      python3-sphinx

 # Install Gazebo9
 $ curl -sSL http://get.gazebosim.org | sh

 $ sudo apt install ros-dashing-gazebo-*

 # Install Cartographer
 $ sudo apt install ros-dashing-cartographer

 $ sudo apt install ros-dashing-cartographer-ros

 # Install Navigation2
 $ sudo apt install ros-dashing-navigation2

 $ sudo apt install ros-dashing-nav2-bringup

 # Install vcstool
 $ sudo apt install python3-vcstool

Missing Dependencies

I did this by mistake but I think it didn't hurt 

 $ rosdep install --from-paths src --ignore-src -r -y

     Command 'rosdep' not found, but can be installed with:

     sudo apt install python-rosdep2

 $ sudo apt install python-rosdep2

 $ rosdep install --from-paths src --ignore-src -r -y

     ERROR: your rosdep installation has not been initialized yet.  Please run:
        
         sudo rosdep init
         rosdep update

 $ sudo rosdep init
     Wrote /etc/ros/rosdep/sources.list.d/20-default.list
     Recommended: please run

       	rosdep update

 $ rosdep update

Install Turtlebot3 Packages 2.0.1

Turtlebot3 Versions

Install

From Section 16.4 in the Robotis Turtlebot3 eManual 

 $ mkdir -p ~/turtlebot3_ws/src

 $ cd ~/turtlebot3_ws

 $ wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/ros2/turtlebot3.repos

 $ vcs import src < turtlebot3.repos

 $ source /opt/ros/dashing/setup.bash

 $ colcon build --symlink-install

Note: I added the source instruction to assure that the environment was properly set up to do a compile in the ROS 2 context.

Note: Melih's instruction advise to remove the Navigation sub directory in the local workspace. There is none because this is a binary install. The navigation binaries end up in /opt/ros/dashing

Note: This is similar to Melih's Navigation 2 Tutorial. See section "Create Turtlebot 2 package." This is a little more complex because he is doing a source install.

Note: Oops, I did the following optional step from Melih's instructions. I don't think I broke anything. 

 $rosdep install --from-paths src --ignore-src -r -y

Version Status

Notes 11/20/20 

 $ pwd
     /home/eepp/turtlebot3_ws/log

 $ ls
     build_2020-03-01_17-39-42  COLCON_IGNORE  latest  latest_build

 $ pwd

 $ grep version turtlebot3_ws/src/turtlebot3/turtlebot3/turtlebot3/package.xml 
     <?xml version="1.0"?>
       <version>2.0.1</version>

This matches the Notes and Log file for that date. See Log section below.

Look in the package.xml files for the versions which is 2.0.1. This matches with changelog in

Log

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