Goals

Goal is to install and configure missing stuff from the SBC instructions to see how much of the system we can bring up.

SBC Setup
- let's see what we need starting in step 13. Suspect the install were already done

Install and Build ROS Package

Humble Already Installed

 $ sudo apt install python3-argcomplete python3-colcon-common-extensions libboost-system-dev build-essential

 $ sudo apt install ros-humble-hls-lfcd-lds-driver

 $ sudo apt install ros-humble-turtlebot3-msgs

 $ sudo apt install ros-humble-dynamixel-sdk

 $ sudo apt install libudev-dev

Humble Already Installed 20240426 Attempt Log

Set up the tutlebot3 Work Space

 $ mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src

 $ git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
       Cloning into 'turtlebot3'...
       remote: Enumerating objects: 6636, done.
       remote: Counting objects: 100% (1342/1342), done.
       remote: Compressing objects: 100% (231/231), done.
       remote: Total 6636 (delta 1166), reused 1159 (delta 1111), pack-reused 5294
       Receiving objects: 100% (6636/6636), 119.99 MiB | 3.29 MiB/s, done.
       Resolving deltas: 100% (4155/4155), done.

 $ git clone -b ros2-devel https://github.com/ROBOTIS-GIT/ld08_driver.git
       Cloning into 'ld08_driver'...
       remote: Enumerating objects: 112, done.
       remote: Counting objects: 100% (112/112), done.
       remote: Compressing objects: 100% (48/48), done.
       remote: Total 112 (delta 50), reused 106 (delta 44), pack-reused 0
       Receiving objects: 100% (112/112), 40.16 KiB | 2.51 MiB/s, done.
       Resolving deltas: 100% (50/50), done.

set up for build

 $ cd ~/turtlebot3_ws/src/turtlebot3

 $ rm -r turtlebot3_cartographer turtlebot3_navigation2

 $ cd ~/turtlebot3_ws/

 $ echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc

 $ source ~/.bashrc
       bash: //: Is a directory

build

 $ colcon build --symlink-install --parallel-workers 1
       Starting >>> turtlebot3_description
       Finished <<< turtlebot3_description [0.79s]                  
       Starting >>> turtlebot3_node
       Finished <<< turtlebot3_node [18.5s]                       
       Starting >>> turtlebot3_example
       --- stderr: turtlebot3_example                    
       /usr/lib/python3/dist-packages/setuptools/command/easy_install.py:158: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools.
         warnings.warn(
       ---
       Finished <<< turtlebot3_example [0.75s]
       Starting >>> turtlebot3_teleop
       --- stderr: turtlebot3_teleop                    
       /usr/lib/python3/dist-packages/setuptools/command/easy_install.py:158: EasyInstallDeprecationWarning: easy_install command is deprecated. Use build and pip and other standards-based tools.
         warnings.warn(
       ---
       Finished <<< turtlebot3_teleop [1.00s]
       Starting >>> turtlebot3_bringup
       Finished <<< turtlebot3_bringup [0.63s]                   
       Starting >>> ld08_driver
       --- stderr: ld08_driver                               
       /home/eepp/turtlebot3_ws/src/ld08_driver/src/transform.cpp: In constructor ‘SlTransform::SlTransform(LDVersion, bool)’:
       /home/eepp/turtlebot3_ws/src/ld08_driver/src/transform.cpp:30:50: warning: unused parameter ‘to_right_hand’ [-Wunused-parameter]
          30 | SlTransform::SlTransform(LDVersion version, bool to_right_hand)
             |                                             17:06, 18 May 2024 (PDT)^17:06, 18 May 2024 (PDT)17:06, 18 May 2024 (PDT)~~
       ---
       Finished <<< ld08_driver [5.01s]
       Starting >>> turtlebot3
       Finished <<< turtlebot3 [0.62s]                   

       Summary: 7 packages finished [27.5s]
         3 packages had stderr output: ld08_driver turtlebot3_example turtlebot3_teleop

 $ echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc

 $ source ~/.bashrc
       bash: //: Is a directory

USB Port Setting for OpenCR

 $ sudo cp `ros2 pkg prefix turtlebot3_bringup`/share/turtlebot3_bringup/script/99-turtlebot3-cdc.rules /etc/udev/rules.d/
       [sudo] password for eepp: 

 $ sudo udevadm control --reload-rules

 $ sudo udevadm trigger

Copied Navigation Scripts from Hood

The are helper scripts implemented on the previous NUC

  $  mkdir scripts

  $  cd scripts/

  $  scp 10.0.0.111:scripts/make_map.sh .

  $  scp 10.0.0.111:scripts/nav2.sh .

  $  scp 10.0.0.111:scripts/keyboard_teleop.sh .

  $  scp 10.0.0.111:scripts/save_map.sh .

.. nav script

Signs of Life Test

 $ ls ../scripts/
       bringup.sh  keyboard_teleop.sh  make_map.sh  nav2.sh  save_map.sh

 $ source ../scripts/make_map.sh 
       [INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-04-26-20-39-41-135614-adams-19724
       [INFO] [launch]: Default logging verbosity is set to INFO

HW setup

connect Open CR and LDS to NUC
turn on Open CR - wait for tune
Boot NUC

Missing Stuff

 $ echo 'export LDS_MODEL=LDS-01' >> ~/.bashrc

 $ export TURTLEBOT3_MODEL=waffle

 $ source scripts/bringup.sh

 $ source scripts/keyboard_teleop.sh

clean up prompt

 $ diff .bashrc .bashrc~
     69,70c69
     < #    PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1"
     <     PS1="\u@\h:\W$ "
     ---
     >     PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1"

 $ !diff
     diff .bashrc .bashrc~
     46c46
     < # force_color_prompt=yes
     ---
     > force_color_prompt=yes

Test Bringup

Termal 1

eepp@adams:~$ source scripts/bringup.sh 
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-04-27-16-46-31-655076-adams-3665
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_waffle.urdf
[INFO] [robot_state_publisher-1]: process started with pid [3666]
[INFO] [ld08_driver-2]: process started with pid [3668]
[INFO] [turtlebot3_ros-3]: process started with pid [3670]
[robot_state_publisher-1] [INFO] [1714261591.750238883] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1714261591.750306842] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1714261591.750312389] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-1] [INFO] [1714261591.750318932] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-1] [INFO] [1714261591.750330003] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-1] [INFO] [1714261591.750333605] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1714261591.750337029] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-1] [INFO] [1714261591.750340161] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-1] [INFO] [1714261591.750343317] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-1] [INFO] [1714261591.750346365] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-1] [INFO] [1714261591.750349636] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1714261591.750354982] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-1] [INFO] [1714261591.750360572] [robot_state_publisher]: got segment wheel_right_link
[turtlebot3_ros-3] [INFO] [1714261591.750244213] [turtlebot3_node]: Init TurtleBot3 Node Main
[turtlebot3_ros-3] [INFO] [1714261591.750407856] [turtlebot3_node]: Init DynamixelSDKWrapper
[turtlebot3_ros-3] [INFO] [1714261591.750730377] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
[turtlebot3_ros-3] [INFO] [1714261591.752523505] [DynamixelSDKWrapper]: Succeeded to change the baudrate!
[ld08_driver-2] /dev/ttyACM0    OpenCR Virtual ComPort in FS Mode
[ld08_driver-2] Can't find LDS-02
[turtlebot3_ros-3] [INFO] [1714261591.789589795] [turtlebot3_node]: Start Calibration of Gyro
[INFO] [ld08_driver-2]: process has finished cleanly [pid 3668]
[turtlebot3_ros-3] [INFO] [1714261596.789813652] [turtlebot3_node]: Calibration End
[turtlebot3_ros-3] [INFO] [1714261596.789863563] [turtlebot3_node]: Add Motors
[turtlebot3_ros-3] [INFO] [1714261596.789965840] [turtlebot3_node]: Add Wheels
[turtlebot3_ros-3] [INFO] [1714261596.789994671] [turtlebot3_node]: Add Sensors
[turtlebot3_ros-3] [INFO] [1714261596.791092689] [turtlebot3_node]: Succeeded to create battery state publisher
[turtlebot3_ros-3] [INFO] [1714261596.791519094] [turtlebot3_node]: Succeeded to create imu publisher
[turtlebot3_ros-3] [INFO] [1714261596.791970451] [turtlebot3_node]: Succeeded to create sensor state publisher
[turtlebot3_ros-3] [INFO] [1714261596.792145730] [turtlebot3_node]: Succeeded to create joint state publisher
[turtlebot3_ros-3] [INFO] [1714261596.792157844] [turtlebot3_node]: Add Devices
[turtlebot3_ros-3] [INFO] [1714261596.792165175] [turtlebot3_node]: Succeeded to create motor power server
[turtlebot3_ros-3] [INFO] [1714261596.792415848] [turtlebot3_node]: Succeeded to create reset server
[turtlebot3_ros-3] [INFO] [1714261596.792585139] [turtlebot3_node]: Succeeded to create sound server
[turtlebot3_ros-3] [INFO] [1714261596.792742047] [turtlebot3_node]: Run!
[turtlebot3_ros-3] [INFO] [1714261596.795973689] [diff_drive_controller]: Init Odometry
[turtlebot3_ros-3] [INFO] [1714261596.797464914] [diff_drive_controller]: Run!

Terminal 2

eepp@adams:~$ source scripts/keyboard_teleop.sh 

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 0.0	 angular velocity 0.0 
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 0.0	 angular velocity 0.0

I was able to change the speed and direction of the motors with the keyboard: TEST PASSED

Stretch Test

$ source scripts/make_map.sh 
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-04-27-16-55-44-535309-adams-3877
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [cartographer_node-1]: process started with pid [3878]
[INFO] [cartographer_occupancy_grid_node-2]: process started with pid [3880]
[INFO] [rviz2-3]: process started with pid [3882]
[rviz2-3] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[cartographer_node-1] [INFO] [1714262144.629386444] [cartographer logger]: I0427 16:55:44.000000  3878 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/turtlebot3_cartographer/config/turtlebot3_lds_2d.lua' for 'turtlebot3_lds_2d.lua'.
[cartographer_node-1] [INFO] [1714262144.629929368] [cartographer logger]: I0427 16:55:44.000000  3878 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-1] [INFO] [1714262144.630124500] [cartographer logger]: I0427 16:55:44.000000  3878 configuration_file_resolver.cc:41] Found '/opt/ros/humble/share/cartographer/configuration_files/map_builder.lua' for 'map_builder.lua'.
[cartographer_node-1] [INFO] [1714262144.630300557] [cartographer logger]: I0427 16:55:44.000000  3878 configuration_file_resolver.cc:41] Found '/opt/ros/humble

RViz came up but robot not displayed
Signs of life -- a bunch of the applications started

Turtlebot3 Waffle NUC Humble Configure 20240426

Contents

Goals

Install and Build ROS Package

Humble Already Installed

Set up the tutlebot3 Work Space

set up for build

build

USB Port Setting for OpenCR

Copied Navigation Scripts from Hood

Signs of Life Test

HW setup

Missing Stuff

Test Bringup

Stretch Test

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