Turtlebot3 Burger Foxy Bringup 20210222
From wikidb
References
Bringup
Terminal 1 on SBC (RPi)
$ ssh ubuntu@10.0.0.187
ubuntu@10.0.0.187's password:
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$ tail ~/.bashrc ... ... source /opt/ros/foxy/setup.bash source ~/turtlebot3_ws/install/setup.bash export ROS_DOMAIN_ID=30 #TURTLEBOT3 export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_bringup robot.launch.py [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2021-02-22-20-29-33-652030-ubuntu-2040 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_burger.urdf /opt/ros/foxy/share/hls_lfcd_lds_driver/launch/hlds_laser.launch.py:46: UserWarning: The parameter 'node_executable' is deprecated, use 'executable' instead Node( /opt/ros/foxy/share/hls_lfcd_lds_driver/launch/hlds_laser.launch.py:46: UserWarning: The parameter 'node_name' is deprecated, use 'name' instead Node( [INFO] [robot_state_publisher-1]: process started with pid [2042] [INFO] [hlds_laser_publisher-2]: process started with pid [2044] [INFO] [turtlebot3_ros-3]: process started with pid [2046] [hlds_laser_publisher-2] [INFO] [1614025775.436359175] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main [hlds_laser_publisher-2] [INFO] [1614025775.443435308] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan [turtlebot3_ros-3] [INFO] [1614025775.456147199] [turtlebot3_node]: Init TurtleBot3 Node Main [turtlebot3_ros-3] [INFO] [1614025775.457525642] [turtlebot3_node]: Init DynamixelSDKWrapper [turtlebot3_ros-3] [INFO] [1614025775.462980032] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)! [turtlebot3_ros-3] [INFO] [1614025775.468544222] [DynamixelSDKWrapper]: Succeeded to change the baudrate! [robot_state_publisher-1] [WARN] [1614025775.486240623] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future. [ERROR] [hlds_laser_publisher-2]: process has died [pid 2044, exit code 255, cmd '/opt/ros/foxy/lib/hls_lfcd_lds_driver/hlds_laser_publisher --ros-args -r __node:=hlds_laser_publisher -r __node:=hlds_laser_publisher --params-file /tmp/launch_params_oal2o_n1']. [turtlebot3_ros-3] [INFO] [1614025775.513138741] [turtlebot3_node]: Start Calibration of Gyro [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] [INFO] [1614025775.531725785] [robot_state_publisher]: got segment base_footprint [robot_state_publisher-1] [INFO] [1614025775.531947313] [robot_state_publisher]: got segment base_link [robot_state_publisher-1] [INFO] [1614025775.532020808] [robot_state_publisher]: got segment base_scan [robot_state_publisher-1] [INFO] [1614025775.532090501] [robot_state_publisher]: got segment caster_back_link [robot_state_publisher-1] [INFO] [1614025775.532150610] [robot_state_publisher]: got segment imu_link [robot_state_publisher-1] [INFO] [1614025775.532208115] [robot_state_publisher]: got segment wheel_left_link [robot_state_publisher-1] [INFO] [1614025775.532266349] [robot_state_publisher]: got segment wheel_right_link [turtlebot3_ros-3] [INFO] [1614025780.513592957] [turtlebot3_node]: Calibration End [turtlebot3_ros-3] [INFO] [1614025780.513872770] [turtlebot3_node]: Add Motors [turtlebot3_ros-3] [INFO] [1614025780.515468830] [turtlebot3_node]: Add Wheels [turtlebot3_ros-3] [INFO] [1614025780.516624804] [turtlebot3_node]: Add Sensors [turtlebot3_ros-3] [INFO] [1614025780.525219056] [turtlebot3_node]: Succeeded to create battery state publisher [turtlebot3_ros-3] [INFO] [1614025780.536973030] [turtlebot3_node]: Succeeded to create imu publisher [turtlebot3_ros-3] [INFO] [1614025780.545509830] [turtlebot3_node]: Succeeded to create sensor state publisher [turtlebot3_ros-3] [INFO] [1614025780.547947204] [turtlebot3_node]: Succeeded to create joint state publisher [turtlebot3_ros-3] [INFO] [1614025780.548752683] [turtlebot3_node]: Add Devices [turtlebot3_ros-3] [INFO] [1614025780.548852430] [turtlebot3_node]: Succeeded to create motor power server [turtlebot3_ros-3] [INFO] [1614025780.557236458] [turtlebot3_node]: Succeeded to create reset server [turtlebot3_ros-3] [INFO] [1614025780.560062820] [turtlebot3_node]: Succeeded to create sound server [turtlebot3_ros-3] [INFO] [1614025780.562994451] [turtlebot3_node]: Run! [turtlebot3_ros-3] [INFO] [1614025780.602097603] [diff_drive_controller]: Init Odometry [turtlebot3_ros-3] [INFO] [1614025780.633427452] [diff_drive_controller]: Run!
TERMINAL 2 on Remote PC (Sisters)
$ ros2 run turtlebot3_teleop teleop_keyboard
Control Your TurtleBot3!
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Moving around:
w
a s d
x
w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)
space key, s : force stop
CTRL-C to quit
currently: linear velocity 0.01 angular velocity 0.0
currently: linear velocity 0.02 angular velocity 0.0
currently: linear velocity 0.03 angular velocity 0.0
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Keyboard teleop works
RVIZ Bringup
Notes and Logs
See bottom of the eManual Bringup pages Section 3.5.2 Load TurtleBot3 on Rviz
