Sisters Dell ROS 2 Dashing Install 202101
From wikidb
Contents
References
Download and Install Ubuntu on PC
- Setion 3.1.1 of TB3 eManual
- Already done and documented in * Sisters_Dell_Ubuntu_18.04_202004
Install ROS 2 on Remote PC
- Section 3.1.2 TB3 eManual
- The following is based on this install script. ROS 2 was already installed and updated. I saw a reinstall as a potential danger.
Check what is installed
$ apt list --installed | grep ros-dashing-desktop
ros-dashing-desktop/bionic,now 0.7.4-1bionic.20201125.080304 amd64 [installed]
$ apt list --installed | grep python3-argcomplete
python3-argcomplete/bionic,bionic,now 1.8.1-1ubuntu1 all [installed]
$ apt list --installed | grep python3-colcon-common-extensions
python3-colcon-common-extensions/bionic,bionic,now 0.2.1-1 all [installed]
$ apt list --installed | grep python3-vcstool
Colon Test (I think)
$ mkdir -p $HOME/colon_ws/src
$ cd ~/colon_ws
$ colcon build --symlink-install
Summary: 0 packages finished [0.14s]
$ source ~/colon_ws/install/local_setup.bash
Install Dependent ROS 2 Packages
- Setion 3.1.3 of TB3 eManual
Colcon is already installed
$ apt list --installed | grep python3-colcon-common-extensions
python3-colcon-common-extensions/bionic,bionic,now 0.2.1-1 all [installed]
Install Gazebo 9
$ curl -sSL http://get.gazebosim.org | sh ======================================================= GAZEBO INSTALLATION SCRIPT ======================================================= This script is installing the latest stable version of Gazebo Simulator available from your package manager Warning: the "gazebo" command appears to already exist on this system. If you already have gazebo installed, this script can cause trouble, which is why we're displaying this warning and provide the opportunity to cancel the installation. If you installed the current gazebo package using this script and are using it again to update gazebo, you can safely ignore this message. You may press Ctrl+C now to abort this script. + sleep 20 ^C
Uninstall Gazebo11
$ sudo apt remove gazebo11 libgazebo11-dev
[sudo] password for eepp:
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following packages were automatically installed and are no longer required:
...
...
$ sudo apt install gazebo9 libgazebo9-dev
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following packages were automatically installed and are no longer required:
fonts-lato ignition-tools libccd-dev libccd2 libdart6
libdart6-collision-bullet libdart6-collision-bullet-dev
libdart6-collision-ode libdart6-collision-ode-dev libdart6-dev
libdart6-external-ikfast-dev libdart6-external-odelcpsolver
libdart6-external-odelcpsolver-dev libdart6-utils libdart6-utils-dev
libdart6-utils-urdf libdart6-utils-urdf-dev libfcl-dev libfcl0.5
...
...
$ sudo apt install ros-dashing-gazebo-ros-pkgs
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following packages were automatically installed and are no longer required:
fonts-lato ignition-tools libccd-dev libccd2 libdart6
libdart6-collision-bullet libdart6-collision-bullet-dev
libdart6-collision-ode libdart6-collision-ode-dev libdart6-dev
libdart6-external-ikfast-dev libdart6-external-odelcpsolver
libdart6-external-odelcpsolver-dev libdart6-utils libdart6-utils-dev
...
...
Cartographer is already installed
$ apt list --installed | grep ros-dashing-cartographer
ros-dashing-cartographer/bionic,now 1.0.9001-1bionic.20201125.034415 amd64 [installed]
ros-dashing-cartographer-ros/bionic,now 1.0.9000-1bionic.20201125.073053 amd64 [installed]
ros-dashing-cartographer-ros-msgs/bionic,now 1.0.9000-1bionic.20201125.063844 amd64 [installed,automatic]
$ apt list --installed | grep ros-dashing-cartographer-ros
ros-dashing-cartographer-ros/bionic,now 1.0.9000-1bionic.20201125.073053 amd64 [installed]
ros-dashing-cartographer-ros-msgs/bionic,now 1.0.9000-1bionic.20201125.063844 amd64 [installed,automatic]
Navigation is already installed
$ apt list --installed | grep ros-dashing-navigation2
ros-dashing-navigation2/bionic,now 0.2.6-1bionic.20201125.080248 amd64 [installed]
$ apt list --installed | grep ros-dashing-nav2-bringup
ros-dashing-nav2-bringup/bionic,now 0.2.6-1bionic.20201125.080445 amd64 [installed]
vcstool is already installed
$ apt list --installed | grep python3-vcstool
python3-vcstool/bionic,bionic,now 0.2.15-1 all [installed]
Install Turtlebot 3 Packages
- Section 3.1.4 of TB3 eManual
$ mkdir -p ~/turtlebot3_ws/src $ cd ~/turtlebot3_ws
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/ros2/turtlebot3.repos --2021-01-18 17:18:42-- https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/ros2/turtlebot3.repos 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: 620 [text/plain] Saving to: ‘turtlebot3.repos’ turtlebot3.repos 100%[===================>] 620 --.-KB/s in 0s 2021-01-18 17:18:42 (2.80 MB/s) - ‘turtlebot3.repos’ saved [620/620]
$ vcs import src < turtlebot3.repos
.....
=== src/turtlebot3/turtlebot3 (git) ===
Cloning into '.'...
=== src/turtlebot3/turtlebot3_msgs (git) ===
Cloning into '.'...
=== src/turtlebot3/turtlebot3_simulations (git) ===
Cloning into '.'...
=== src/utils/DynamixelSDK (git) ===
Cloning into '.'...
=== src/utils/hls_lfcd_lds_driver (git) ===
Cloning into '.'...
Error - TBD See below: Investigate
$ colcon build --symlink-install
Starting >>> turtlebot3_msgs
Starting >>> dynamixel_sdk
Starting >>> hls_lfcd_lds_driver
Starting >>> turtlebot3_description
Finished <<< turtlebot3_description [3.93s]
Starting >>> turtlebot3_cartographer
--- stderr: dynamixel_sdk
/home/eepp/turtlebot3_ws/src/utils/DynamixelSDK/dynamixel_sdk/src/dynamixel_sdk/group_sync_read.cpp: In member function ‘bool dynamixel::GroupSyncRead::getError(uint8_t, uint8_t*)’:
/home/eepp/turtlebot3_ws/src/utils/DynamixelSDK/dynamixel_sdk/src/dynamixel_sdk/group_sync_read.cpp:204:19: warning: suggest parentheses around assignment used as truth value [-Wparentheses]
return error[0] = error_list_[id][0];
12:15, 19 January 2021 (PST)Edc (talk) 12:15, 19 January 2021 (PST)^12:15, 19 January 2021 (PST)12:15, 19 January 2021 (PST)12:15, 19 January 2021 (PST)Edc (talk) 12:15, 19 January 2021 (PST)
/home/eepp/turtlebot3_ws/src/utils/DynamixelSDK/dynamixel_sdk/src/dynamixel_sdk/group_bulk_read.cpp: In member function ‘bool dynamixel::GroupBulkRead::getError(uint8_t, uint8_t*)’:
/home/eepp/turtlebot3_ws/src/utils/DynamixelSDK/dynamixel_sdk/src/dynamixel_sdk/group_bulk_read.cpp:235:19: warning: suggest parentheses around assignment used as truth value [-Wparentheses]
return error[0] = error_list_[id][0];
12:15, 19 January 2021 (PST)Edc (talk) 12:15, 19 January 2021 (PST)^12:15, 19 January 2021 (PST)12:15, 19 January 2021 (PST)12:15, 19 January 2021 (PST)Edc (talk) 12:15, 19 January 2021 (PST)
---
Finished <<< dynamixel_sdk [5.02s]
Starting >>> turtlebot3_navigation2
Finished <<< turtlebot3_cartographer [3.43s]
Starting >>> turtlebot3_teleop
Finished <<< turtlebot3_teleop [1.85s]
Finished <<< turtlebot3_navigation2 [4.92s]
Finished <<< hls_lfcd_lds_driver [11.0s]
Finished <<< turtlebot3_msgs [21.1s]
Starting >>> turtlebot3_node
Starting >>> turtlebot3_example
Starting >>> turtlebot3_fake_node
Finished <<< turtlebot3_example [0.98s]
Finished <<< turtlebot3_fake_node [13.3s]
Finished <<< turtlebot3_node [19.6s]
Starting >>> turtlebot3_bringup
Finished <<< turtlebot3_bringup [1.64s]
Starting >>> turtlebot3
Finished <<< turtlebot3 [1.60s]
Starting >>> turtlebot3_gazebo
Finished <<< turtlebot3_gazebo [6.96s]
Starting >>> turtlebot3_simulations
Finished <<< turtlebot3_simulations [1.61s]
Summary: 14 packages finished [52.7s]
1 package had stderr output: dynamixel_sdk
Environment Configuration
Section 3.1.5 of TB3 eManual
February 1, 2021
cat .bashrc
# Temp disabled because of upgrade to 18.04
source /opt/ros/dashing/setup.bash
# diff between local_setup and setup (burger)
# source /home/eepp/turtlebot3_ws/install/local_setup.bash
source /home/eepp/turtlebot3_ws/install/setup.bash
# open manipulator
# source /home/eepp/robotis_ws/install/local_setup.bash
# cartorgrapher split for NUC implementation
# source /home/eepp/eepp_ws/install/local_setup.bash
# source ~/catkin_ws/devel/setup.bash
export ROS_MASTER_URI=http://10.0.0.111:11311
export ROS_HOSTNAME=10.0.0.159
export ROS_DOMAIN_ID=30 #TURTLEBOT3
# export TURTLEBOT3_MODEL=waffle
export TURTLEBOT3_MODEL=burger
export PYTHONPATH="${PYTHONPATH}:/opt/movidius/caffe/python"
# export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/eepp/intel/compilers_and_libraries_2019.2.187/linux/mkl/lib/intel64_lin
export CAFFE_ROOT=$HOME/code/clCaffe
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/clCaffe/build/lib
export PYTHONPATH=$PYTHONPATH:/opt/clCaffe/python/
export PATH=$PATH:/home/eepp/ROBOTIS/DynamixelWizard2/
export PATH=$PATH:/home/eepp/scripts
