Hood NUC Rviz Test 202012 Notes and Log
From wikidb
rviz20201217.txt
12/17/20
This had do errors.
it wont turn put mooves forward and back
Terminal 1
eepp@hood:~$ bringup.sh
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-12-17-13-23-48-578159-hood-4664
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_waffle.urdf
[INFO] [robot_state_publisher-1]: process started with pid [4674]
[INFO] [hlds_laser_publisher-2]: process started with pid [4675]
[INFO] [turtlebot3_ros-3]: process started with pid [4676]
[robot_state_publisher-1] Initialize urdf model from file: /home/eepp/turtlebot3_ws_2_1_0/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
[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!
This had do errors.
it wont turn put mooves forward and back
Terminal 1
eepp@hood:~$ bringup.sh
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-12-17-13-23-48-578159-hood-4664
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_waffle.urdf
[INFO] [robot_state_publisher-1]: process started with pid [4674]
[INFO] [hlds_laser_publisher-2]: process started with pid [4675]
[INFO] [turtlebot3_ros-3]: process started with pid [4676]
[robot_state_publisher-1] Initialize urdf model from file: /home/eepp/turtlebot3_ws_2_1_0/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
[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:turtlebot3_ws_2_1_0$ ros2 launch turtlebot3_bringup rviz2.launch.py
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-12-17-13-47-48-352846-hood-5310
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [5320]
[rviz2-1] Parsing robot urdf xml string.
Terminal 3
eepp@hood:rviz$ keyteleop.sh
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 0.0 angular velocity -0.1
currently: linear velocity 0.0 angular velocity -0.2
currently: linear velocity 0.0 angular velocity -0.30000000000000004
currently: linear velocity 0.0 angular velocity -0.4
currently: linear velocity 0.0 angular velocity -0.5
currently: linear velocity 0.0 angular velocity -0.6
currently: linear velocity 0.0 angular velocity -0.7
currently: linear velocity 0.0 angular velocity -0.7999999999999999
currently: linear velocity 0.0 angular velocity -0.8999999999999999
Terminal 2
eepp@hood:turtlebot3_ws_2_1_0$ ros2 launch turtlebot3_bringup rviz2.launch.py
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2020-12-17-13-47-48-352846-hood-5310
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [5320]
[rviz2-1] Parsing robot urdf xml string.
Terminal 3
eepp@hood:rviz$ keyteleop.sh
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 0.0 angular velocity -0.1
currently: linear velocity 0.0 angular velocity -0.2
currently: linear velocity 0.0 angular velocity -0.30000000000000004
currently: linear velocity 0.0 angular velocity -0.4
currently: linear velocity 0.0 angular velocity -0.5
currently: linear velocity 0.0 angular velocity -0.6
currently: linear velocity 0.0 angular velocity -0.7
currently: linear velocity 0.0 angular velocity -0.7999999999999999
currently: linear velocity 0.0 angular velocity -0.8999999999999999
