Turtlebot3 Burger ROS 2 Foxy Bringup 2021022 Notes and Log

February 22, 2021

bringupFoxy20210222.txt

--------------- TERMINAL 1

Bringup SBC

eepp@sisters:TB3InstallFoxy$ ssh ubuntu@10.0.0.187
ubuntu@10.0.0.187's password: 
Welcome to Ubuntu 20.04.2 LTS (GNU/Linux 5.4.0-1028-raspi aarch64)

 * Documentation:  https://help.ubuntu.com
 * Management:     https://landscape.canonical.com
 * Support:        https://ubuntu.com/advantage

  System information as of Mon 22 Feb 2021 08:27:19 PM UTC

  System load:  0.47               Temperature:            38.6 C
  Usage of /:   35.7% of 14.30GB   Processes:              138
  Memory usage: 27%                Users logged in:        0
  Swap usage:   0%                 IPv4 address for wlan0: 10.0.0.187

 * Introducing self-healing high availability clusters in MicroK8s.
   Simple, hardened, Kubernetes for production, from RaspberryPi to DC.

     https://microk8s.io/high-availability

0 updates can be installed immediately.
0 of these updates are security updates.


Last login: Mon Feb 22 19:51:35 2021 from 10.0.0.159
ubuntu@ubuntu:~$ echo $TURTLEBOT3_MODEL
burger
ubuntu@ubuntu:~$ 
ubuntu@ubuntu:~$ 
ubuntu@ubuntu:~$ 
ubuntu@ubuntu:~$ 
ubuntu@ubuntu:~$ 
ubuntu@ubuntu:~$ 
ubuntu@ubuntu:~$ 
ubuntu@ubuntu:~$ 
ubuntu@ubuntu:~$ 
ubuntu@ubuntu:~$ 
ubuntu@ubuntu:~$ 
ubuntu@ubuntu:~$ 
ubuntu@ubuntu:~$ 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

epp@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 



Keyboard teleop works