Turtlebot3 Foxy NUC based Waffle Bringup 20210222

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References

Shortcuts

 $ bringup.sh*
 $ keyboard_teleop.sh*
 $ make_map.sh*
 $ save_map.sh*
 $ nav2.sh*

Bringup

Terminal 1 

$ ros2 launch turtlebot3_bringup robot.launch.py
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2021-03-11-21-01-17-162830-hood-2898
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_waffle.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 [2900]
[INFO] [hlds_laser_publisher-2]: process started with pid [2902]
[INFO] [turtlebot3_ros-3]: process started with pid [2904]
[hlds_laser_publisher-2] [INFO] [1615525277.361277284] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main
[hlds_laser_publisher-2] [INFO] [1615525277.361403839] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan
[turtlebot3_ros-3] [INFO] [1615525277.361860427] [turtlebot3_node]: Init TurtleBot3 Node Main
[turtlebot3_ros-3] [INFO] [1615525277.362422232] [turtlebot3_node]: Init DynamixelSDKWrapper
[turtlebot3_ros-3] [INFO] [1615525277.362803219] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
[turtlebot3_ros-3] [INFO] [1615525277.364038573] [DynamixelSDKWrapper]: Succeeded to change the baudrate!
[robot_state_publisher-1] [WARN] [1615525277.368832099] [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.
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_link had 7 children
[robot_state_publisher-1] Link camera_link had 2 children
[robot_state_publisher-1] Link camera_depth_frame had 1 children
[robot_state_publisher-1] Link camera_depth_optical_frame had 0 children
[robot_state_publisher-1] Link camera_rgb_frame had 1 children
[robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children
[robot_state_publisher-1] Link caster_back_left_link had 0 children
[robot_state_publisher-1] Link caster_back_right_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] [1615525277.376716867] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1615525277.376764481] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1615525277.376776696] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-1] [INFO] [1615525277.376786419] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-1] [INFO] [1615525277.376796476] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-1] [INFO] [1615525277.376853891] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1615525277.376870040] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-1] [INFO] [1615525277.376880105] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-1] [INFO] [1615525277.376890005] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-1] [INFO] [1615525277.376899630] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-1] [INFO] [1615525277.376909182] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1615525277.376918838] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-1] [INFO] [1615525277.376928603] [robot_state_publisher]: got segment wheel_right_link
[turtlebot3_ros-3] [INFO] [1615525277.399222255] [turtlebot3_node]: Start Calibration of Gyro
[turtlebot3_ros-3] [INFO] [1615525282.399529623] [turtlebot3_node]: Calibration End
[turtlebot3_ros-3] [INFO] [1615525282.399692446] [turtlebot3_node]: Add Motors
[turtlebot3_ros-3] [INFO] [1615525282.400245972] [turtlebot3_node]: Add Wheels
[turtlebot3_ros-3] [INFO] [1615525282.400556291] [turtlebot3_node]: Add Sensors
[turtlebot3_ros-3] [INFO] [1615525282.405024150] [turtlebot3_node]: Succeeded to create battery state publisher
[turtlebot3_ros-3] [INFO] [1615525282.407190213] [turtlebot3_node]: Succeeded to create imu publisher
[turtlebot3_ros-3] [INFO] [1615525282.409885533] [turtlebot3_node]: Succeeded to create sensor state publisher
[turtlebot3_ros-3] [INFO] [1615525282.411739032] [turtlebot3_node]: Succeeded to create joint state publisher
[turtlebot3_ros-3] [INFO] [1615525282.411810785] [turtlebot3_node]: Add Devices
[turtlebot3_ros-3] [INFO] [1615525282.411857217] [turtlebot3_node]: Succeeded to create motor power server
[turtlebot3_ros-3] [INFO] [1615525282.413510805] [turtlebot3_node]: Succeeded to create reset server
[turtlebot3_ros-3] [INFO] [1615525282.414331256] [turtlebot3_node]: Succeeded to create sound server
[turtlebot3_ros-3] [INFO] [1615525282.415398314] [turtlebot3_node]: Run!
[turtlebot3_ros-3] [INFO] [1615525282.423328109] [diff_drive_controller]: Init Odometry
[turtlebot3_ros-3] [INFO] [1615525282.429751331] [diff_drive_controller]: Run!

Terminal 2 

$ 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

Cartographer Startup

Terminal 3 

$ ros2 launch turtlebot3_cartographer cartographer.launch.py
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2021-03-11-21-03-34-165100-hood-3016
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [cartographer_node-1]: process started with pid [3018]
[INFO] [occupancy_grid_node-2]: process started with pid [3020]
[INFO] [rviz2-3]: process started with pid [3022]
[cartographer_node-1] [INFO] [1615525414.352773006] [cartographer_ros]: I0311 21:03:34.000000  3018 configuration_file_resolver.cc:41] Found '/home/eepp/turtlebot3_ws/install/turtlebot3_cartographer/share/turtlebot3_cartographer/config/turtlebot3_lds_2d.lua' for 'turtlebot3_lds_2d.lua'.
[cartographer_node-1] [INFO] [1615525414.354527181] [cartographer_ros]: I0311 21:03:34.000000  3018 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-1] [INFO] [1615525414.354652044] [cartographer_ros]: I0311 21:03:34.000000  3018 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-1] [INFO] [1615525414.355123445] [cartographer_ros]: I0311 21:03:34.000000  3018 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-1] [INFO] [1615525414.355230078] [cartographer_ros]: I0311 21:03:34.000000  3018 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/pose_graph.lua' for 'pose_graph.lua'.
[cartographer_node-1] [INFO] [1615525414.356142485] [cartographer_ros]: I0311 21:03:34.000000  3018 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-1] [INFO] [1615525414.356234858] [cartographer_ros]: I0311 21:03:34.000000  3018 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
[cartographer_node-1] [INFO] [1615525414.356786281] [cartographer_ros]: I0311 21:03:34.000000  3018 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-1] [INFO] [1615525414.356888234] [cartographer_ros]: I0311 21:03:34.000000  3018 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
[cartographer_node-1] [INFO] [1615525414.357813689] [cartographer_ros]: I0311 21:03:34.000000  3018 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-1] [INFO] [1615525414.357890221] [cartographer_ros]: I0311 21:03:34.000000  3018 configuration_file_resolver.cc:41] Found '/opt/ros/foxy/share/cartographer/configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
[cartographer_node-1] [INFO] [1615525414.755064977] [cartographer_ros]: I0311 21:03:34.000000  3018 submap_2d.cc:187] Added submap 1
[cartographer_node-1] [INFO] [1615525414.755168373] [cartographer_ros]: I0311 21:03:34.000000  3018 map_builder_bridge.cc:132] Added trajectory with ID '0'.
[cartographer_node-1] [INFO] [1615525414.886409573] [cartographer_ros]: I0311 21:03:34.000000  3018 ordered_multi_queue.cc:172] All sensor data for trajectory 0 is available starting at '637511222148966831'.
[cartographer_node-1] [INFO] [1615525414.917737594] [cartographer_ros]: I0311 21:03:34.000000  3018 local_trajectory_builder_2d.cc:295] Extrapolator not yet initialized.
[cartographer_node-1] [INFO] [1615525414.917964607] [cartographer_ros]: I0311 21:03:34.000000  3018 local_trajectory_builder_2d.cc:138] Extrapolator is still initializing.
[rviz2-3] [INFO] [1615525414.945204380] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1615525414.945542070] [rviz2]: OpenGl version: 3 (GLSL 1.3)
[rviz2-3] [INFO] [1615525415.000614689] [rviz2]: Stereo is NOT SUPPORTED
[occupancy_grid_node-2] [WARN] [1615525415.344422532] [occupancy_grid_node]: submap_slices and last_frame_id is empty
[rviz2-3] [INFO] [1615525416.375130365] [rviz2]: Trying to create a map of size 68 x 79 using 1 swatches
[rviz2-3] [ERROR] [1615525416.384770810] [rviz2]: Vertex Program:rviz/glsl120/indexed_8bit_image.vert Fragment Program:rviz/glsl120/indexed_8bit_image.frag GLSL link result : 
[rviz2-3] active samplers with a different type refer to the same texture image unit
[rviz2-3] [INFO] [1615525419.350390789] [rviz2]: Trying to create a map of size 69 x 79 using 1 swatches
[rviz2-3] [INFO] [1615525429.366588596] [rviz2]: Trying to create a map of size 69 x 80 using 1 swatches

Notes and Logs

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