Hood Turtlebot3 Bringup Test

References

• ROS2 Section 15.1.2 SBC setup
• ros2.md Same as the SBC Setup above
• Bringup Turtlebot3 Section 15.2.1
• Intel TB3 Tutorial
• ROS2 Command Line Tools

Depreciated

• Hood Turtlebot3 Bringup Depreciated
• Hood Turtlebot3 Bringup Depreciated 2

Initial Conditions

• State: Clean Boot
• Environment Variables: Waffle environment variables are set in .bashrc. Otherwise they must be set in the terminal now.

 $ echo $TB3_MODEL
     waffle

 $ echo $TURTLEBOT3_MODEL
     waffle

• Action: Power OpenCR board - plug it into the AC adapter and turn the power switch to the left. The power must be turned on first so that the Dynamixel Smart Servo Motors will be powered at boot time. The OpenCR must load them with their configurations.
• POWER LED: Green Power LED is on.
• Action: Plug the OpenCR USB into Hood. Boot will begin.
• STATUS LED: Green Status LED flashes once.
• xxx LED: Green xxx LEE is on. (next the the USB connector)

Bringup

 $ cd tb3_sbc_settings

$ ./run.sh

     ########################################################################
     Run two Agent and one Client for LDS & OpenCR
     ########################################################################
     nohup: nohup: appending output to 'nohup.out'
     ignoring input and appending output to 'nohup.out'
     nohup: ignoring input and appending output to 'nohup.out'
     ./run.sh: line 13: 18316 Aborted                 (core dumped) nohup ./turtlebot3_lidar_xrce_client
  
     Two MicroXRCEAgents and one MicroXRCEClient listed below are running in the background.
     Please refer to the note below to check its execution status or to terminate it.

     ========== NOTE ==========
     This script uses the nohup command to run multiple processes in the background.
     Therefore, to terminate these processes, use the kill command like below

      use 'ps | grep "MicroXRCEAgent"' command for checking process ID
      kill [PID number]

      Also, logs running in the background are stored in nohup.out in the current folder where this command was executed.
     ==========================

• USER 4 LED: Flashes several time Green
• USER 4 LED: Goes solid Green
• ARDUINO LED: Starts to blink Green
• After a Few Seconds
• Amber LEDs: Two amber LED start to blink - Indicates that the OpenCR is publishing

$ ros2 topic list
    /cmd_vel
    /imu
    /motor_power
    /parameter_events
    /reset
    /rosout
    /sensor_state
    /sound
    /time_sync
    /version_info

$ ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear: {x: 1.0}}' -1
    publisher: beginning loop
    publishing #1: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=1.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))

• Motors: Turning

$ ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear: {x: 0.0}}' -1
    publisher: beginning loop
    publishing #1: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=0.0))

• Motors: Stop Turning

Kill

Note: This is not sufficient. It won't start up again. Reboot to recover.

$ ps | grep "MicroXRCEAgent"
     18303 pts/0    00:30:02 MicroXRCEAgent
     18304 pts/0    00:25:25 MicroXRCEAgent

$ kill 18303

$ kill 18304