Hood Turtlebot3 Bringup Test Still won't work

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Context

  • FW version: V190829R1
  • FW date must be: August 29, 2019
  • Date I Tested 1/14/20

I was trying to use Raspberry Pi as the base instructions. See Hood_Turtlebot3_Bringup_Test. I want a minimum test configuration: OpenCR and its drivers only It just work. See below. So in the end I decidedto go with Melih Erdogan's Tutorial. That is why this page is depreciated.

Initial Conditions

  • Action: Board plugged into Hood. Power up.
    • Result: tone played each note higher than the previous
    • Arduino LED' blinking
  • Reboot Hood
  • Plugged in LIDAR

Bringup 1

TERMINAL 1 

$ cd tb3_sbc_settings

 eepp@hood:tb3_sbc_settings$ ll /dev/ttyACM0 
     crw-rw-rw- 1 root dialout 166, 0 Jan 14 11:24 /dev/ttyACM0

 epp@hood:tb3_sbc_settings$ echo TB3_MODEL
     TB3_MODEL

 eepp@hood:tb3_sbc_settings$ echo TURTLEBOT3_MODEL
     TURTLEBOT3_MODEL

 eepp@hood:tb3_sbc_settings$ echo $TB3_MODEL
     waffle

 eepp@hood:tb3_sbc_settings$ echo $TURTLEBOT3_MODEL
     waffle

 eepp@hood:tb3_sbc_settings$ ./run.sh

     ########################################################################
     Run two Agent and one Client for LDS & OpenCR
     ########################################################################
     nohup: nohup: ignoring input and appending output to 'nohup.out'appending output to 'nohup.out'

     nohup: ignoring input and appending output to 'nohup.out'

     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.
     ==========================

TERMINAL 2 

 eepp@hood:tmp$ ros2 topic  list
     /parameter_events
     /rosout
     /scan

Bringup 2

Look for a sequence that works

  • Action: reboot
  • Status
    • OpenCR usb plugged in and its light on
    • OpenCR power still on and its light on
    • LIDAR usb plugged in
  • Actionreset OpenCR
  • Status
    • one blink of status
    • multipel blinks of user 4
    • multiple blinks of user 2
    • steady blinking ardino

Nothing changes

Trouble Web Search Results

Poke Around

 eepp@hood:tb3_sbc_settings$ which MicroXRCEAgent
     /usr/local/bin/MicroXRCEAgent

 eepp@hood:tb3_sbc_settings$ ll /usr/local/bin/MicroXRCEAgent 
     -rwxr-xr-x 1 root root 300368 Aug 12 16:32 /usr/local/bin/MicroXRCEAgent*

 eepp@hood:tb3_sbc_settings$ sudo find / -name MicroXRCEAgent
     [sudo] password for eepp: 
     /opt/ros/crystal/bin/MicroXRCEAgent
     find: ‘/run/user/1000/gvfs’: Permission denied
     /home/eepp/tb3_sbc_settings/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent
     /home/eepp/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent
     /usr/local/bin/MicroXRCEAgent
     eepp@hood:tb3_sbc_settings$ ll /home/eepp/tb3_sbc_settings/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent
     -rwxr-xr-x 1 eepp eepp 300368 Aug 12 16:32 /home/eepp/tb3_sbc_settings/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent*
     eepp@hood:tb3_sbc_settings$ ll /home/eepp/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent
    -rwxr-xr-x 1 eepp eepp 300368 Jul 29 11:56 /home/eepp/Micro-XRCE-DDS-Agent/build/MicroXRCEAgent*
     eepp@hood:tb3_sbc_settings$ ll /usr/local/bin/MicroXRCEAgent
     -rwxr-xr-x 1 root root 300368 Aug 12 16:32 /usr/local/bin/MicroXRCEAgent*

ROBOTIS 461

See ROBOTIS 461

OpusK commented on Aug 6, 2019 • 

 @rafaelhuang-intel

     The command of your provide not search any one, so I changed command to "sudo find / -name "microxrcedds"",

 Oh sorry. I missed the option.

 I think deleting the files below will solve it.

 /usr/local/lib/libmicroxrcedds_agent.so.1
 /usr/local/lib/libmicroxrcedds_client.a
 /usr/local/lib/libmicroxrcedds_agent.so
 /usr/local/lib/libmicroxrcedds_client.so.1.1.0
 /usr/local/lib/libmicroxrcedds_client.so
 /usr/local/lib/libmicroxrcedds_agent.so.1.1.0
 /usr/local/share/microxrcedds_agent
 /usr/local/share/microxrcedds_client

Check it out 

 eepp@hood:Micro-XRCE-DDS-Agent$ ll /usr/local/lib/libmicroxrcedds_*
     lrwxrwxrwx 1 root root      26 Jul 29 11:59 /usr/local/lib/libmicroxrcedds_agent.so -> libmicroxrcedds_agent.so.1
     lrwxrwxrwx 1 root root      30 Jul 29 11:59 /usr/local/lib/libmicroxrcedds_agent.so.1 -> libmicroxrcedds_agent.so.1.1.0
     -rw-r--r-- 1 root root 1675864 Aug 12 16:32 /usr/local/lib/libmicroxrcedds_agent.so.1.1.0
     -rw-r--r-- 1 root root  265630 Aug 12 16:32 /usr/local/lib/libmicroxrcedds_client.a
     lrwxrwxrwx 1 root root      31 Jul 29 11:59 /usr/local/lib/libmicroxrcedds_client.so -> libmicroxrcedds_client.so.1.1.0
     -rw-r--r-- 1 root root  118336 Jul 29 11:53 /usr/local/lib/libmicroxrcedds_client.so.1.1.0

Action: I moved these libs out. It didn't help (1/17/20)

Action: Abandoned my ROS 2 / TB3 approach and followed Melih Erdogan's. Motors are turning

Action Restored Micro XRCE DDS resources (1/24/20)

Hood Restore Micro XRCE DDS Resources log

Milih tests still passed after the restore. Micro-XRCE-DDS may have no impact on Intel's install process for a NUC.

Check eManual Bringup

Nothing here that give me any ideas.

Done

Conclusion This is going nowhere productive. I better start with a clean install ROS2 and tb3

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