Turtlebot3 Burger ROS 2 Dashing SLAM 20210118 c Notes and Log
From wikidb
January 18 c, 2021
slam20210118c.txt
TERMINAL 1
ubuntu@ubuntu:~$ export TURTLEBOT3_MODEL=burger
ubuntu@ubuntu:~$ ros2 launch turtlebot3_bringup robot.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2021-01-18-19-42-34-371238-ubuntu-5529
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_burger.urdf
[INFO] [robot_state_publisher-1]: process started with pid [5540]
[INFO] [hlds_laser_publisher-2]: process started with pid [5541]
[INFO] [turtlebot3_ros-3]: process started with pid [5542]
[robot_state_publisher-1] Initialize urdf model from file: /home/ubuntu/turtlebot3_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
[hlds_laser_publisher-2] [INFO] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main
[hlds_laser_publisher-2] [INFO] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan
[ERROR] [hlds_laser_publisher-2]: process has died [pid 5541, exit code 255, cmd '/opt/ros/dashing/lib/hls_lfcd_lds_driver/hlds_laser_publisher __node:=hlds_laser_publisher __params:=/tmp/launch_params__auv4bis'].
[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]: 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!
[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!
TERMINAL 2
eepp@sisters:~$
eepp@sisters:~$ echo $TURTLEBOT3_MODEL
burger
eepp@sisters:~$
eepp@sisters:~$
eepp@sisters:~$
eepp@sisters:~$ ros2 launch turtlebot3_cartographer cartographer.launch.py
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2021-01-18-12-10-21-125832-sisters-24768
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [cartographer_node-1]: process started with pid [24781]
[INFO] [occupancy_grid_node-2]: process started with pid [24782]
[INFO] [rviz2-3]: process started with pid [24783]
[cartographer_node-1] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-3] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-3] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[cartographer_node-1] [WARN] [cartographer_ros]: W0118 12:10:22.000000 24781 tf_bridge.cc:67] "imu_link" passed to lookupTransform argument target_frame does not exist.
[cartographer_node-1] [WARN] [cartographer_ros]: W0118 12:10:22.000000 24781 tf_bridge.cc:67] "imu_link" passed to lookupTransform argument target_frame does not exist.
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[cartographer_node-1] [WARN] [cartographer_ros]: W0118 12:10:22.000000 24781 tf_bridge.cc:67] "imu_link" passed to lookupTransform argument target_frame does not exist.
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
-----------------------
1/18/21
after external pc setup again
TERMINAL 1
eepp@sisters:~$ ssh ubuntu@10.0.0.186
ubuntu@10.0.0.186's password:
Welcome to Ubuntu 18.04.5 LTS (GNU/Linux 4.15.0-1077-raspi2 aarch64)
export TURTLEBOT3_MODEL=burger
put this in .bashrc
ubuntu@ubuntu:~$ source .bashrc
ubuntu@ubuntu:~$ ros2 launch turtlebot3_bringup robot.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2021-01-19-02-01-10-357732-ubuntu-5503
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_burger.urdf
[INFO] [robot_state_publisher-1]: process started with pid [5513]
[INFO] [hlds_laser_publisher-2]: process started with pid [5514]
[INFO] [turtlebot3_ros-3]: process started with pid [5515]
[robot_state_publisher-1] Initialize urdf model from file: /home/ubuntu/turtlebot3_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
[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]: 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!
[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!
TERMINAL 2 on romote pc
wonder if I did this
eepp@sisters:~$ source turtlebot3_ws/install/setup.bash
eepp@sisters:~$
eepp@sisters:~$
eepp@sisters:~$
eepp@sisters:~$
eepp@sisters:~$ ros2 launch turtlebot3_cartographer cartographer.launch.py
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2021-01-18-17-47-38-514512-sisters-24010
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [cartographer_node-1]: process started with pid [24023]
[INFO] [occupancy_grid_node-2]: process started with pid [24024]
[INFO] [rviz2-3]: process started with pid [24025]
[cartographer_node-1] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-3] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[rviz2-3] [WARN] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[cartographer_node-1] [WARN] [cartographer_ros]: W0118 17:47:39.000000 24023 tf_bridge.cc:67] "imu_link" passed to lookupTransform argument target_frame does not exist.
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[occupancy_grid_node-2] [WARN] [occupancy_grid_node]: submap_slices and last_frame_id is empty
TERMINAL 3
eepp@sisters:~$ echo $TURTLEBOT3_MODEL
burger
eepp@sisters:~$ source turtlebot3_ws/install/setup.bash
eepp@sisters:~$ ros2 run turtlebot3_teleop teleop_keyboard
Control Your TurtleBot3!
---------------------------
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
currently: linear velocity 0.04 angular velocity 0.0
currently: linear velocity 0.05 angular velocity 0.0
currently: linear velocity 0.060000000000000005 angular velocity 0.0
currently: linear velocity 0.07 angular velocity 0.0
currently: linear velocity 0.08 angular velocity 0.0
currently: linear velocity 0.09 angular velocity 0.0
currently: linear velocity 0.09999999999999999 angular velocity 0.0
currently: linear velocity 0.10999999999999999 angular velocity 0.0
currently: linear velocity 0.11999999999999998 angular velocity 0.0
currently: linear velocity 0.12999999999999998 angular velocity 0.0
currently: linear velocity 0.13999999999999999 angular velocity 0.0
currently: linear velocity 0.15 angular velocity 0.0
currently: linear velocity 0.0 angular velocity 0.0
eepp@sisters:~$ ros2 run turtlebot3_teleop teleop_keyboard
Control Your TurtleBot3!
---------------------------
Moving around:
w
a s d
x
TERMINAL 4
eepp@sisters:~$ ssh ubuntu@10.0.0.186
ubuntu@10.0.0.186's password:
Welcome to Ubuntu 18.04.5 LTS (GNU/Linux 4.15.0-1077-raspi2 aarch64)
* Documentation: https://help.ubuntu.com
* Management: https://landscape.canonical.com
* Support: https://ubuntu.com/advantage
System information as of Tue Jan 19 02:26:46 UTC 2021
System load: 0.41 Processes: 117
Usage of /: 36.8% of 14.33GB Users logged in: 1
Memory usage: 27% IP address for eth0: 10.0.0.186
Swap usage: 0%
* Introducing self-healing high availability clusters in MicroK8s.
Simple, hardened, Kubernetes for production, from RaspberryPi to DC.
https://microk8s.io/high-availability
3 packages can be updated.
2 of these updates are security updates.
To see these additional updates run: apt list --upgradable
New release '20.04.1 LTS' available.
Run 'do-release-upgrade' to upgrade to it.
Last login: Tue Jan 19 02:22:29 2021
ubuntu@ubuntu:~$
ubuntu@ubuntu:~$
ubuntu@ubuntu:~$
ubuntu@ubuntu:~$
ubuntu@ubuntu:~$ passwd
Changing password for ubuntu.
(current) UNIX password:
Enter new UNIX password:
Retype new UNIX password:
Bad: new password is too simple
ubuntu@ubuntu:~$
ubuntu@ubuntu:~$ sudo passwd ubuntu
Enter new UNIX password:
Retype new UNIX password:
passwd: password updated successfully
ubuntu@ubuntu:~$
1/21/21
TERMINAL 5
eepp@sisters:~$ source turtlebot3_ws/install/setup.bash
eepp@sisters:~$ ros2 run nav2_map_server map_saver -f ~/map
[INFO] [map_saver]: Waiting for the map
[INFO] [map_saver]: Received a 147 X 146 map @ 0.050 m/pix
[INFO] [map_saver]: Writing map occupancy data to /home/eepp/map.pgm
[INFO] [map_saver]: Writing map metadata to /home/eepp/map.yaml
[INFO] [map_saver]: Map saved
Map saver succeeded
eepp@sisters:~$ ls
1604workspace local Pictures tensorflow_datasets
Arduino map.pgm project_tests tmp
code maps Public tmpbk
colon_ws map.yaml realsense_camera turtlebot3_ws
DeepLearning mkl ROBOTIS turtlebot3_ws_20210118
Desktop Music robotis_ws Videos
Documents opencl.4.1 scripts wiz
Downloads opencr sketchbook
eepp_ws OpenCRProcessing TB3Install
kinetic_catkin_ws open_manip_process Templates
eepp@sisters:~$ ll map*
-rw-r--r-- 1 eepp eepp 21477 Jan 21 15:38 map.pgm
-rw-r--r-- 1 eepp eepp 131 Jan 21 15:38 map.yaml
maps:
total 100
drwxr-xr-x 3 eepp eepp 4096 Jul 1 2020 ./
drwxr-xr-x 65 eepp eepp 4096 Jan 21 15:38 ../
-rw-r--r-- 1 eepp eepp 27915 Jul 1 2020 map1.pgm
-rw-r--r-- 1 eepp eepp 138 Jul 1 2020 map1.yaml
-rw-r--r-- 1 eepp eepp 53015 Jul 1 2020 map2.pgm
-rw-r--r-- 1 eepp eepp 138 Jul 1 2020 map2.yaml
drwxr-xr-x 2 eepp eepp 4096 Jul 1 2020 old/
eepp@sisters:~
