Hood Turtlebot3 Bringup Depreciated 2

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References

Bringup

Missed steps

$ cd && wget https://github.com/ROBOTIS-GIT/turtlebot3/raw/ros2/turtlebot3_sbc_settings/$ROS2_DISTRO/tb3_sbc_settings.tar.bz

continue

Plug the OpenCR USB into the TB3.

Terminal 1 

$ MicroXRCEAgent serial --dev /dev/ttyACM0
    Enter 'q' for exit

$ export TB3_MODEL=waffle

$ export TURTLEBOT3_MODEL=${TB3_MODEL}

Terminal 2 

$ ros2 launch turtlebot3_bringup robot.launch.py
    [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2019-08-03-09-17-18-888141-hood-12434
    [INFO] [launch]: Default logging verbosity is set to INFO
    urdf_file_name : turtlebot3_waffle.urdf
    [INFO] [robot_state_publisher-1]: process started with pid [12444]
    [INFO] [turtlebot3_ros-2]: process started with pid [12445]
    [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

Terminal 3 

$ ros2 topic list
    /imu
    /joint_states
    /odom
    /parameter_events
    /robot_description
    /rosout
    /sensor_state
    /tf
    /tf_static
    /time_sync


Success

  • upgrade OpenCR FW to 1.0.4
  • build
  • run notes
  • install tb3_sbc_settings.tar.bz2
  • execute 

plug in OpenCR to the USB
plgu in OpenCR to the power

boot



TERMINAL 1

  770  export TB3_MODEL=waffle
  771  export TURTLEBOT3_MODEL=${TB3_MODEL}
  772  cd tb3_sbc_settings/
  773  ./run.sh


TERMINAL 2

  770  export TB3_MODEL=waffle
  771  export TURTLEBOT3_MODEL=${TB3_MODEL}
  772  ros2 launch turtlebot3_bringup robot.launch.py



TERMINAL 3

  772  ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear: {x: 1.0}}' -1

Notes

Where is cmd_vel???? plus others. Goal is to 

$ ros2 topic pub /demo/cmd_demo geometry_msgs/Twist '{linear: {x: 1.0}}' -1

Debug - /odom prints something 

 $ ros2 topic echo /odom
 $ ros2 topic echo /sensor_state
 $ ros2 topic echo /imu

ROS1 

$ rostopic pub /mobile_base_controller/cmd_vel geometry_msgs/Twist "linear:
    >   x: 0.5
    >   y: 0.0
    >   z: 0.0
    > angular:
    >   x: 0.0
    >   y: 0.0
    >   z: 0.0" -r 3
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