OpenCR Turtlebot3 Setup ROS 2 Dashing 20210115 Note and Log
From wikidb
January 15, 2021 opencr20210115.txt 3.3.3 OpenCR Setup ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ sudo dpkg --add-architecture armhf ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ sudo apt-get update Get:1 http://packages.ros.org/ros2/ubuntu bionic InRelease [4,683 B] Hit:2 http://ports.ubuntu.com/ubuntu-ports bionic InRelease Get:3 http://ports.ubuntu.com/ubuntu-ports bionic-updates InRelease [88.7 kB] Get:4 http://packages.ros.org/ros2/ubuntu bionic/main amd64 Packages [690 kB] Get:5 http://ports.ubuntu.com/ubuntu-ports bionic-backports InRelease [74.6 kB] Get:6 http://ports.ubuntu.com/ubuntu-ports bionic-security InRelease [88.7 kB] Get:7 http://ports.ubuntu.com/ubuntu-ports bionic/main armhf Packages [968 kB] Get:8 http://ports.ubuntu.com/ubuntu-ports bionic/restricted armhf Packages [8,360 B] Get:9 http://ports.ubuntu.com/ubuntu-ports bionic/universe armhf Packages [8,269 kB] Get:10 http://packages.ros.org/ros2/ubuntu bionic/main arm64 Packages [660 kB] Get:11 http://ports.ubuntu.com/ubuntu-ports bionic/multiverse armhf Packages [129 kB] Get:12 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf Packages [1,051 kB] Get:13 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main arm64 Packages [1,169 kB] Get:14 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main Translation-en [384 kB] Get:15 http://ports.ubuntu.com/ubuntu-ports bionic-updates/restricted armhf Packages [10.4 kB] Get:16 http://ports.ubuntu.com/ubuntu-ports bionic-updates/restricted Translation-en [31.8 kB] Get:17 http://ports.ubuntu.com/ubuntu-ports bionic-updates/universe armhf Packages [1,397 kB] Get:18 http://ports.ubuntu.com/ubuntu-ports bionic-updates/multiverse armhf Packages [6,528 B] Get:19 http://ports.ubuntu.com/ubuntu-ports bionic-backports/main armhf Packages [9,992 B] Get:20 http://ports.ubuntu.com/ubuntu-ports bionic-backports/universe armhf Packages [9,920 B] Get:21 http://ports.ubuntu.com/ubuntu-ports bionic-security/main arm64 Packages [872 kB] Get:22 http://ports.ubuntu.com/ubuntu-ports bionic-security/main armhf Packages [761 kB] Get:23 http://ports.ubuntu.com/ubuntu-ports bionic-security/main Translation-en [292 kB] Get:24 http://ports.ubuntu.com/ubuntu-ports bionic-security/restricted armhf Packages [6,508 B] Get:25 http://ports.ubuntu.com/ubuntu-ports bionic-security/restricted Translation-en [28.8 kB] Get:26 http://ports.ubuntu.com/ubuntu-ports bionic-security/universe armhf Packages [870 kB] Get:27 http://ports.ubuntu.com/ubuntu-ports bionic-security/multiverse armhf Packages [2,368 B] Fetched 17.9 MB in 18s (972 kB/s) Reading package lists... Done ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ sudo apt-get install libc6:armhf Reading package lists... Done Building dependency tree Reading state information... Done The following additional packages will be installed: gcc-8-base:armhf libgcc1:armhf Suggested packages: glibc-doc:armhf locales:armhf The following NEW packages will be installed: gcc-8-base:armhf libc6:armhf libgcc1:armhf 0 upgraded, 3 newly installed, 0 to remove and 3 not upgraded. Need to get 2,269 kB of archives. After this operation, 9,023 kB of additional disk space will be used. Do you want to continue? [Y/n] Y Get:1 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf gcc-8-base armhf 8.4.0-1ubuntu1~18.04 [18.8 kB] Get:2 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf libgcc1 armhf 1:8.4.0-1ubuntu1~18.04 [37.1 kB] Get:3 http://ports.ubuntu.com/ubuntu-ports bionic-updates/main armhf libc6 armhf 2.27-3ubuntu1.4 [2,213 kB] Fetched 2,269 kB in 2s (1,434 kB/s) Preconfiguring packages ... Selecting previously unselected package gcc-8-base:armhf. (Reading database ... 145634 files and directories currently installed.) Preparing to unpack .../gcc-8-base_8.4.0-1ubuntu1~18.04_armhf.deb ... Unpacking gcc-8-base:armhf (8.4.0-1ubuntu1~18.04) ... Selecting previously unselected package libgcc1:armhf. Preparing to unpack .../libgcc1_1%3a8.4.0-1ubuntu1~18.04_armhf.deb ... Unpacking libgcc1:armhf (1:8.4.0-1ubuntu1~18.04) ... Selecting previously unselected package libc6:armhf. Preparing to unpack .../libc6_2.27-3ubuntu1.4_armhf.deb ... Unpacking libc6:armhf (2.27-3ubuntu1.4) ... Setting up gcc-8-base:armhf (8.4.0-1ubuntu1~18.04) ... Setting up libgcc1:armhf (1:8.4.0-1ubuntu1~18.04) ... Setting up libc6:armhf (2.27-3ubuntu1.4) ... Processing triggers for libc-bin (2.27-3ubuntu1.4) ... ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ export OPENCR_PORT=/dev/ttyACM0 ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ export OPENCR_MODEL=burger ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ ll opencr* ls: cannot access 'opencr*': No such file or directory ubuntu@ubuntu:~$ rm -rf ./opencr_update.tar.bz2 ubuntu ubuntu@ubuntu:~$ wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2 --2021-01-15 19:58:25-- https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2 Resolving github.com (github.com)... 192.30.255.113 Connecting to github.com (github.com)|192.30.255.113|:443... connected. HTTP request sent, awaiting response... 302 Found Location: https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR-Binaries/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2 [following] --2021-01-15 19:58:25-- https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR-Binaries/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2 Resolving raw.githubusercontent.com (raw.githubusercontent.com)... 151.101.52.133 Connecting to raw.githubusercontent.com (raw.githubusercontent.com)|151.101.52.133|:443... connected. HTTP request sent, awaiting response... 200 OK Length: 201744 (197K) [application/octet-stream] Saving to: ‘opencr_update.tar.bz2’ opencr_update.tar.b 100%[===================>] 197.02K --.-KB/s in 0.03s 2021-01-15 19:58:26 (6.10 MB/s) - ‘opencr_update.tar.bz2’ saved [201744/201744] ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ tar -xjf ./opencr_update.tar.bz2 ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ ll opencr* -rw-rw-r-- 1 ubuntu ubuntu 201744 Jan 15 19:58 opencr_update.tar.bz2 opencr_update: total 536 drwxrwxr-x 2 ubuntu ubuntu 4096 Aug 29 2019 ./ drwxr-xr-x 10 ubuntu ubuntu 4096 Jan 15 19:59 ../ -rwxrwxr-x 1 ubuntu ubuntu 131068 Aug 29 2019 burger.opencr* -rwxrwxr-x 1 ubuntu ubuntu 29240 Aug 29 2019 opencr_ld_shell_arm* -rwxrwxr-x 1 ubuntu ubuntu 38752 Aug 29 2019 opencr_ld_shell_x86* -rwxrwxr-x 1 ubuntu ubuntu 187084 Aug 29 2019 opencr_ld_shell_x86.exe* -rwxrwxr-x 1 ubuntu ubuntu 752 Aug 29 2019 README.md* -rwxrwxr-x 1 ubuntu ubuntu 3 Aug 29 2019 released_0.0.3.txt* -rwxrwxr-x 1 ubuntu ubuntu 241 Aug 29 2019 update.bat* -rwxrwxr-x 1 ubuntu ubuntu 657 Aug 29 2019 update.sh* -rwxrwxr-x 1 ubuntu ubuntu 131068 Aug 29 2019 waffle.opencr* ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ ubuntu@ubuntu:~$ cd ~/opencr_update ubuntu@ubuntu:~/opencr_update$ ubuntu@ubuntu:~/opencr_update$ ubuntu@ubuntu:~/opencr_update$ ubuntu@ubuntu:~/opencr_update$ ubuntu@ubuntu:~/opencr_update$ ls burger.opencr opencr_ld_shell_x86.exe update.bat opencr_ld_shell_arm README.md update.sh opencr_ld_shell_x86 released_0.0.3.txt waffle.opencr ubuntu@ubuntu:~/opencr_update$ ubuntu@ubuntu:~/opencr_update$ ubuntu@ubuntu:~/opencr_update$ ubuntu@ubuntu:~/opencr_update$ ubuntu@ubuntu:~/opencr_update$ ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr aarch64 arm OpenCR Update Start.. opencr_ld_shell ver 1.0.0 opencr_ld_main [ ] file name : burger.opencr [ ] file size : 127 KB [ ] fw_name : burger [ ] fw_ver : V190829R3 [OK] Open port : /dev/ttyACM0 [ ] [ ] Board Name : OpenCR R1.0 [ ] Board Ver : 0x17020800 [ ] Board Rev : 0x00000000 [OK] flash_erase : 1.07s [OK] flash_write : 1.60s [OK] CRC Check : CBBCC4 CBBCC4 , 0.006000 sec [OK] Download [OK] jump_to_fw ubuntu@ubuntu:~/opencr_update$ 3.3.1 OpenCR Test tests passed
