Raspberry PI Image Investigation 202012 Notes and log

Subset of Nav20201124.txt

* Download the PI Image
* Mount the PI Image
* Investigate the PI Image
11/24/20


---------------------- investigate pi image

https://emanual.robotis.com/docs/en/platform/turtlebot3/ros2_setup/

1.2.2 Download and Install Ubuntu Image File

http://old-releases.ubuntu.com/releases/18.04.3/

eepp@hood:raspi$ mv ~/Downloads/ubuntu-18.04-preinstalled-server-armhf+raspi2.img.xz .

eepp@hood:raspi$ ls
ubuntu-18.04-preinstalled-server-armhf+raspi2.img.xz
eepp@hood:raspi$ xz -d -v ubuntu-18.04-preinstalled-server-armhf+raspi2.img.xz
ubuntu-18.04-preinstalled-server-armhf+raspi2.img.xz (1/1)
  100 %     295.8 MiB / 2,252.0 MiB = 0.131    69 MiB/s       0:32             

ls
ubuntu-18.04-preinstalled-server-armhf+raspi2.img

https://askubuntu.com/questions/500549/how-to-run-gnome-disk-utility
How to run Gnome disk utility



eepp@hood:raspi$ gnome-disk-image-mounter 
Gtk-Message: 13:31:00.023: GtkDialog mapped without a transient parent. This is discouraged.
eepp@hood:raspi$ ls /m

navigated to ~/raspi and open the file

eepp@hood:raspi$ ls /media/eepp/
cloudimg-rootfs  system-boot
eepp@hood:raspi$ ll /media/eepp/
total 28
drwxr-x---+  4 root root  4096 Nov 25 13:31 ./
drwxr-xr-x   3 root root  4096 Aug  7 10:42 ../
drwxr-xr-x  22 root root  4096 Apr 26  2018 cloudimg-rootfs/
drwxr-xr-x   2 eepp eepp 16384 Dec 31  1969 system-boot/
eepp@hood:raspi$ cd /media/eepp/cloudimg-rootfs/
eepp@hood:cloudimg-rootfs$ ls


April 26 matches the date on the download site for the xz
so I must have mounted it


-------------------

Bringup TurtleBot3

    Open a new terminal from PC with Ctrl + Alt + T and connect to Raspberry Pi with its IP address.
    The default password is ubuntu.

    $ ssh ubuntu@{IP_ADDRESS_OF_RASPBERRY_PI}

    Bring up basic packages to start TurtleBot3 applications. Replace the ${TB3_MODEL} parameter with your model name such as burger, waffle, waffle_pi.

    $ export TURTLEBOT3_MODEL=${TB3_MODEL}
    $ ros2 launch turtlebot3_bringup robot.launch.py

    If the TurtleBot3 model is burger as below, the terminal will print below messages.

    $ export TURTLEBOT3_MODEL=burger
    $ ros2 launch turtlebot3_bringup robot.launch.py
    [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2019-08-19-01-24-19-009803-ubuntu-15310
    [INFO] [launch]: Default logging verbosity is set to INFO
    urdf_file_name : turtlebot3_burger.urdf
    [INFO] [robot_state_publisher-1]: process started with pid [15320]
    [INFO] [hlds_laser_publisher-2]: process started with pid [15321]
    [INFO] [turtlebot3_ros-3]: process started with pid [15322]
    [robot_state_publisher-1] Initialize urdf model from file: /home/ubuntu/turtlebot_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
    [robot_state_publisher-1] Parsing robot urdf xml string.
    [robot_state_publisher-1] Link base_link had 5 children
    [robot_state_publisher-1] Link caster_back_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 caster_back_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
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper
    [turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
    [turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate!
    [robot_state_publisher-1] Adding fixed segment from base_footprint to base_link
    [robot_state_publisher-1] Adding fixed segment from base_link to caster_back_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
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Start Calibration of Gyro
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Calibration End
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Motors
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Wheels
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Sensors
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create battery state publisher
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create imu publisher
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sensor state publisher
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create joint state publisher
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Devices
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create motor power server
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create reset server
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sound server
    [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Run!
    [turtlebot3_ros-3] [INFO] [diff_drive_controller]: Init Odometry
    [turtlebot3_ros-3] [INFO] [diff_drive_controller]: Run!


where does turtlebot3_state_publisher.launch.py get started