Turtlebot3 ROS2

Environment

Turtlebot3 R0S 2 Version Details

• Ubuntu 18.04.3 LTS Bionic Beaver
• ROS2 Dashing
• Turtlebot3
• OpenCR
  • HW R1.0
  • FW waffle V190829R3

References

• Robotis Turtlebot3 ROS2 eManual
• Intel TB3 Tutorial

Waffle Modifications

• Owl TB3 Waffle Frame Modifications
• Owl Power Management

Software Setup

Ubuntu Setup on Hood

• Hood NUC Ubuntu 18.04

OpenCR Setup

• Hood OpenCR Firmware Version V190829R3 Install Rototis instructions

ROS 2 Tools

• ROS 2 Tools

ROS 2 Install on Hood

• Hood NUC ROS2 Dashing Binary 202002
• Hood NUC ROS2 Dashing Configuration 202004
• Hood NUC Navigation 2 Dashing Binary 202003 and Turtlebot3

Test Core Capabilities

• Hood NUC Bringup 2 Dashing 202003 Keyboard teleop and RViz
• Hood NUC Bringup Investigate 202012
• Hood RC100 Controller 202006
• Hood NUC ROS2 Joystick 202004
• Hood NUC RealSense D400 Series 202004

Mapping

• Hood NUC Install, Test and Configure Cartographer 202006 Everything runs on Hood (the robot)
• Hood NUC Master and Sisters Client 202006 split cartographer between Hood (the robot) and Sisters (remote laptop)
• Hood NUC and Sisters Remote Run Cartographer 202006 Create bringup convenience scripts
• Hood NUC Investigate Cartographer Launch 202012

Navigation

• Hood NUC Navigation 202006
• Hood NUC Navigation Nav2Site 202101

Tutorials

• ROS2 Tutorial Index
• Hood NUC ROS2 Dashing Turtlesim and rqt 202003

Work Space

• Sisters Dell Open Manipulator Workspace Setup 202006

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Depreciated Intel Source Install

• Hood NUC ROS2 Binary install to /opt/ros

Based on the Intel Navigation 2 team

• Hood NUC Melih ROS2 Source Install
• Hood NUC Melih Gazebo Install
• Hood NUC Melih ROS2 Navigation 2 Install
• Hood NUC Melih ROS2 TB3 Install
• Hood NUC Melih ROS2 TB3 Bringup and Test
• Robotis Basic Operation TBD

From Tutlebot3 Robotis e-Manual

• Hood NUC Robotis ROS2 Cartography
• Hood NUC Robotis ROS2 SLAM
• Hood NUC Robotis ROS2 Navigation 2

Tools

• Hood NUC ROS2 rviz
• Hood NUC ROS2 *** TBD *** clean up this page and redistribute

Quick Start Notes

• Hood NUC Demo and Tests for Melih Install

Depreciated Other

• Hood OpenCR 1.0.4 ROS2 Firmware Install or V190730R1

These next steps were based on Raspberry Pi instructions. They didn't work here. So I moved to Melih Erdogan's instructions. See Setup section above.

• Hood OpenCR Waffle Drivers ROS2 Micro XRCE DDS Agent Install (this may also be a part of the next step?)
• Hood Turtlebot3 ROS2
• Hood Install Core Hardware Support
• Hood Turtlebot3 Bringup Test
• Hood Turtlebot3 Bringup Test Still won't work