View source for Turtlebot3 Foxy NUC Perform Mapping and Navigation 20240227

'''TBD''': Navigation
'''TBD''': How the NUC was hooded up

= References =

== reddit's NUC Headless Advice ==

* [https://www.reddit.com/r/intelnuc/comments/m3veeb/remote_management_headless_nuc/ 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 

* [https://github.com/Combinacijus/RPi4-ROS2-Headless-Tutorial RPi4 ROS2 Headless Tutorial]

= Setup Up Remote Robot Driver Computer =

== A Linux PC ==

= 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