Hood NUC and Sisters Remote Run Cartographer 202006

References

• Turtlebot3 ROS 2 Setup Section 16.1.3 Install ROS 2 Dependent Packages
• Turtlebot3 ROS 2 SLAM Section 19 SLAM

General back ground references - see section 19.7

• Cartographer System
• Cartographer ROS Integration

Run

On Hood

Joystick Setup

RC-100B

ssh into 3 terminals to Hood from Sisters

TERMINAL 1 - Core Bringup

 $ ros2 launch turtlebot3_bringup robot.launch.py

TERMINAL 2 - Start keyboard teleop

 $ ros2 run turtlebot3_teleop teleop_keyboard

TERMINAL 3 - Start mapping

 $ ros2 launch eepp_cartographer cartographer1.launch.py

On Sisters

TERMINAL 1 - Start rviz display

 $ ros2 launch eepp_cartographer cartographer2.launch.py

On Hood

TELEOP

Teleop the robot using the RC 100 joystick.

TERMINAL 4 - save the map

 $ ros2 run nav2_map_server map_saver -f ~/maps/firstFloor

VIEW MAP

 $ eog ~/maps/firstFloor.pgm &

Convenience Scripts

Hood

 $ cat bringup.sh 
     #!/bin/bash
     # ece
     ros2 launch turtlebot3_bringup robot.launch.py

 $ cat maphood.sh
     #!/bin/bash
     # ece
     ros2 launch eepp_cartographer cartographer1.launch.py

 $ cat savemap.sh
     #!/bin/bash
     # ece
     ros2 run nav2_map_server map_saver -f ~/maps/map2

Sisters

 $ cat mapsisters.sh
     #!/bin/bash
     # ece
     ros2 launch eepp_cartographer cartographer2.launch.py

.bashrc

Add to the .bashrc

 export PATH=$PATH:/home/eepp/scripts

Log

• Hood NUC Cartographer Bringup 202006 Notes and Log
• Hood NUC and Sisters Map Test 2020006 Notes and Logs