Turtlebot3 Foxy NUC Perform Mapping and Navigation 20240227

TBD: Navigation TBD: How the NUC was hooded up

References

reddit's NUC Headless Advice

• Remote Management Headless NUC
• Chose
  • ssh -X
• Other choses
  • x2go
    • cockpit

As others have said, ssh server is the first thing you should install/enable. That will give you access to the command line.

You may also run graphical applications through ssh (login with ssh -X). Though it's not the most efficient way.

If you really need to run graphical applications remotely from the NUC then I recommend x2go server. It works out of the box (at least on debian does), without the need to edit configuration files. You can start a full X session or just run a specific app.

You'll need to install x2go client on the computers from which you want to connect.

Another approach is to use web-based managing interfaces such as cockpit. It's developed by redhat, but you'll find it in other distros as well.

RPi4 Headless Tutorial

TBD Move this Placeholder

• RPi4 ROS2 Headless Tutorial

Setup Up The NUC On Robot Controller

On each terminal do the following

 iMac: edcepp$ ssh eepp@10.0.0.111 -X
     eepp@10.0.0.111's password: 
     Welcome to Ubuntu 20.04.2 LTS (GNU/Linux 5.4.0-169-generic x86_64)
 
 eepp@hood:~$ cd scripts

Bring up ROS2

Terminal 1

 eepp@hood:scripts$ ./bringup.sh
     [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-02-27-21-39-48-791564-hood-3478
     [INFO] [launch]: Default logging verbosity is set to INFO
     ...

Start Mapping

Terminal 2

 eepp@hood:scripts$ ./make_map.sh 
     [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-02-27-22-56-26-318465-hood-5878
     [INFO] [launch]: Default logging verbosity is set to INFO
     ...

TBD: Using the Robotis controller to control the motion of the robot. Using the xxx is another option: See keyboard_teleop.sh.

Save Map to File

This is being done in a new terminal window before the mapping program is exited. The file name is given on the command line. The name is written

Terminal 3

 eepp@hood:scripts$ ./save_map.sh filename
     [INFO] [1709092935.756165568] [map_saver]: 
       	map_saver lifecycle node launched. 
       	Waiting on external lifecycle transitions to activate
       	See https://design.ros2.org/articles/node_lifecycle.html for more information.
     [INFO] [1709092935.756336163] [map_saver]: Creating
     [INFO] [1709092935.756547217] [map_saver]: Saving map from 'map' topic to '/home/eepp/maps/filename' file
     [WARN] [1709092935.756584912] [map_saver]: Free threshold unspecified. Setting it to default value: 0.250000
     [WARN] [1709092935.756611544] [map_saver]: Occupied threshold unspecified. Setting it to default value: 0.650000
     [WARN] [map_io]: Image format unspecified. Setting it to: pgm
     [INFO] [map_io]: Received a 83 X 80 map @ 0.05 m/pix
     [INFO] [map_io]: Writing map occupancy data to /home/eepp/maps/filename.pgm
     [INFO] [map_io]: Writing map metadata to /home/eepp/maps/filename.yaml
     [INFO] [map_io]: Map saved
     [INFO] [1709092936.577029822] [map_saver]: Map saved successfully
     [INFO] [1709092936.577087239] [map_saver]: Destroying

Two files are written to the maps directory. In this case:

 eepp@hood:scripts$ ls -l ../maps/filename*
     -rw-rw-r-- 1 eepp eepp 57135 Feb 27 16:35 ../maps/filename.pgm
     -rw-rw-r-- 1 eepp eepp   143 Feb 27 16:35 ../maps/filename.yaml

 eepp@hood:scripts$ eog ../maps/excellent.pgm &

 eepp@hood:scripts$ cat ../maps/excellent.yaml 
     image: /home/eepp/maps/excellent.pgm
     mode: trinary
     resolution: 0.05
     origin: [-4.38, -3.28, 0]
     negate: 0
     occupied_thresh: 0.65
     free_thresh: 0.25

Shell Scripts

bringup.sh

 eepp@hood:scripts$ cat bringup.sh 
     #!/bin/bash
     # ece
  
     ros2 launch turtlebot3_bringup robot.launch.py

keyboard_teleop.sh

If using the driver conmputre with keyboard control

 eepp@hood:scripts$ cat keyboard_teleop.sh 
     #!/bin/bash
     # ece

     ros2 run turtlebot3_teleop teleop_keyboard

make_map.sh

 eepp@hood:scripts$ cat make_map.sh 
     #!/bin/bash
     # ece

     ros2 launch turtlebot3_cartographer cartographer.launch.py

save_map.sh

 eepp@hood:scripts$ cat save_map.sh 
     #!/bin/bash
     # ece
     #
     # save_map <map name>

     if [ $# -eq 1 ]
     then
        ros2 run nav2_map_server map_saver_cli -f ~/maps/$1
     else
        echo "save_map <map name>"
     fi