Hood NUC ROS2 Bringup 202003 Notes and Log

bringup20200301

March 1, 2020

TERMINAL 1

eepp@hood:~$ export TURTLEBOT3_MODEL=waffle
eepp@hood:~$ source /opt/ros/dashing/setup.bash
eepp@hood:~$ source turtlebot3_ws/install/setup.bash


eepp@hood:~$ sudo chmod 666 /dev/ttyACM0 


eepp@hood:~$ ros2 launch turtlebot3_bringup robot.launch.py
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-03-01-19-23-08-235966-hood-8955
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_waffle.urdf
[INFO] [robot_state_publisher-1]: process started with pid [8965]
[INFO] [hlds_laser_publisher-2]: process started with pid [8966]
[INFO] [turtlebot3_ros-3]: process started with pid [8967]
[robot_state_publisher-1] Initialize urdf model from file: /home/eepp/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
[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
[hlds_laser_publisher-2] [INFO] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main
[hlds_laser_publisher-2] [INFO] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan
[ERROR] [hlds_laser_publisher-2]: process has died [pid 8966, exit code 255, cmd '/home/eepp/turtlebot3_ws/install/hls_lfcd_lds_driver/lib/hls_lfcd_lds_driver/hlds_laser_publisher __node:=hlds_laser_publisher __params:=/tmp/launch_params_41b78zu6'].
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate!
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Start Calibration of Gyro
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Calibration End
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Motors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Wheels
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Sensors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create battery state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create imu publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sensor state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create joint state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Devices
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create motor power server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create reset server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sound server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Run!
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Init Odometry
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Run!







TERMINAL 2

eepp@hood:~$ export TURTLEBOT3_MODEL=waffle
eepp@hood:~$ source /opt/ros/dashing/setup.bash
eepp@hood:~$ source turtlebot3_ws/install/setup.bash


eepp@hood:~$ ros2 topic list
/battery_state
/cmd_vel
/imu
/joint_states
/magnetic_field
/odom
/parameter_events
/robot_description
/rosout
/sensor_state
/tf
/tf_static



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

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 



3/2/2020

ros2 launch turtlebot3_bringup rviz2.launch.py
Robotis emanual 17.2



ros2 topic echo cmd_vel




sudo chmod 666 /dev/ttyUSB0 
[sudo] password for eepp: 

scan error in rviz
Transform
Could not transform from [base_scan] to [odom]
see
https://answers.ros.org/question/263140/no-transform-from-base_link-to-odom/


example from ros1 floor hugger
http://10.0.0.9/wiki/index.php/Tf_map.launch
<launch>
   <node pkg="tf" type="static_transform_publisher" name="odom_to_map" 
         args="0.1 0 0 0 -1.570796327 0 -1.570796327 map odom 100" />




this showed scans now - it didn't before
ros2 topic echo scan


rqt_graph