Difference between revisions of "Turtlebot3 Burger SBC Foxy Bringup Processes 20210303"
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[[File:turtlebot3_burger.pdf | 800px]] | [[File:turtlebot3_burger.pdf | 800px]] | ||
| + | |||
| + | == Reference == | ||
| + | |||
| + | '''TBD''' | ||
| + | * See [[Hood_NUC_URDF_202011]] | ||
| + | * Display a 3D representation of Burger | ||
= System Integration Parameters = | = System Integration Parameters = | ||
| Line 37: | Line 43: | ||
A set of parameters passed to the turtlebot3_node extablish, for example, physical characteristics of the Burger (wheel diameters and separation) and link the URDF frames to odometry. The parameter files is located here on the SBC: | A set of parameters passed to the turtlebot3_node extablish, for example, physical characteristics of the Burger (wheel diameters and separation) and link the URDF frames to odometry. The parameter files is located here on the SBC: | ||
~/turtlebot3_ws/install/turtlebot3_bringup/share/turtlebot3_bringup/param/burger.yaml | ~/turtlebot3_ws/install/turtlebot3_bringup/share/turtlebot3_bringup/param/burger.yaml | ||
| − | The file is copied here: | + | The file is copied here: [[Turblebot3 Burger Foxy Turtlebot3_node Parameters 20210303]] |
| + | |||
| + | Note this declaration targeted at the diff_drive_controller which links the "odom" parent frame to its child "base_footprint". It is necessary so odometry information can be mapped to the location of the laser scanner's frame named "base_scan'. See | ||
| + | * [https://intel.github.io/robot_devkit_doc/pages/navigation.html Intel's Navigation2 tutorial] Section 2.2 "Launch navigation2 on a Robot" for running RVIZ. | ||
| + | |||
| + | Make sure all transforms from odom are present. (odom->base_link->base_scan) | ||
| + | |||
| + | diff_drive_controller: | ||
| + | ros__parameters: | ||
| + | |||
| + | odometry: | ||
| + | publish_tf: true | ||
| + | use_imu: true | ||
| + | frame_id: "odom" | ||
| + | child_frame_id: "base_footprint" | ||
| + | |||
| + | = TF: Transform Topics = | ||
| + | |||
| + | Transform topics published by the robot_state_publisher can be captured by | ||
| + | |||
| + | <pre> | ||
| + | $ ros2 topic echo tf | ||
| + | transforms: | ||
| + | - header: | ||
| + | stamp: | ||
| + | sec: 1614792208 | ||
| + | nanosec: 280959974 | ||
| + | frame_id: odom | ||
| + | child_frame_id: base_footprint | ||
| + | transform: | ||
| + | translation: | ||
| + | x: 0.13462753501481928 | ||
| + | y: 3.9344604215855566e-05 | ||
| + | z: 0.0 | ||
| + | rotation: | ||
| + | x: 0.0 | ||
| + | y: 0.0 | ||
| + | z: 0.000571099078903287 | ||
| + | w: 0.9999998369229077 | ||
| + | --- | ||
| + | </pre> | ||
| − | + | <pre> | |
| + | $ ros2 topic echo tf_static | ||
| + | --- | ||
| + | transforms: | ||
| + | - header: | ||
| + | stamp: | ||
| + | sec: 1614799211 | ||
| + | nanosec: 126169544 | ||
| + | frame_id: base_footprint | ||
| + | child_frame_id: base_link | ||
| + | transform: | ||
| + | translation: | ||
| + | x: 0.0 | ||
| + | y: 0.0 | ||
| + | z: 0.01 | ||
| + | rotation: | ||
| + | x: 0.0 | ||
| + | y: 0.0 | ||
| + | z: 0.0 | ||
| + | w: 1.0 | ||
| + | - header: | ||
| + | stamp: | ||
| + | sec: 1614799211 | ||
| + | nanosec: 126179909 | ||
| + | frame_id: base_link | ||
| + | child_frame_id: caster_back_link | ||
| + | transform: | ||
| + | translation: | ||
| + | x: -0.081 | ||
| + | y: 0.0 | ||
| + | z: -0.004 | ||
| + | rotation: | ||
| + | x: -0.706825181105366 | ||
| + | y: 0.0 | ||
| + | z: 0.0 | ||
| + | w: 0.7073882691671998 | ||
| + | - header: | ||
| + | stamp: | ||
| + | sec: 1614799211 | ||
| + | nanosec: 126187096 | ||
| + | frame_id: base_link | ||
| + | child_frame_id: imu_link | ||
| + | transform: | ||
| + | translation: | ||
| + | x: -0.032 | ||
| + | y: 0.0 | ||
| + | z: 0.068 | ||
| + | rotation: | ||
| + | x: 0.0 | ||
| + | y: 0.0 | ||
| + | z: 0.0 | ||
| + | w: 1.0 | ||
| + | - header: | ||
| + | stamp: | ||
| + | sec: 1614799211 | ||
| + | nanosec: 126190638 | ||
| + | frame_id: base_link | ||
| + | child_frame_id: base_scan | ||
| + | transform: | ||
| + | translation: | ||
| + | x: -0.032 | ||
| + | y: 0.0 | ||
| + | z: 0.172 | ||
| + | rotation: | ||
| + | x: 0.0 | ||
| + | y: 0.0 | ||
| + | z: 0.0 | ||
| + | w: 1.0 | ||
| + | --- | ||
| + | </pre> | ||
= Notes and Logs = | = Notes and Logs = | ||
Latest revision as of 12:06, 4 March 2021
Contents
Process Running on the RPi
The ROS2 nodes created by bringup on the SBC (RPi). This is the rqt_graph representation
The processes created in the RPi. These are the execute commands.
ps -au
/usr/bin/python3 /opt/ros/foxy/bin/ros2 launch turtlebot3_bringup robot.launch.py
/opt/ros/foxy/lib/robot_state_publisher/robot_state_publisher
/home/ubuntu/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
--ros-args -r __node:=robot_state_publisher
--params-file /tmp/launch_params_a7lmxzoy
/opt/ros/foxy/lib/hls_lfcd_lds_driver/hlds_laser_publisher
--ros-args -r __node:=hlds_laser_publisher -r __node:=hlds_laser_publisher
--params-file /tmp/launch_params_b55p9bi2
/home/ubuntu/turtlebot3_ws/install/turtlebot3_node/lib/turtlebot3_node/turtlebot3_ros -i /dev/ttyACM0
--ros-args
--params-file /home/ubuntu/turtlebot3_ws/install/turtlebot3_bringup/share/turtlebot3_bringup/param/burger.yaml
Burger URDF
This is a graphical representation of the Burger URDF. The URDF is one of the parameters of the robot_state_publisher above located at:
~/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
$ urdf_to_graphiz turtlebot3_burger.urdf
Created file turtlebot3_burger.gv
Created file turtlebot3_burger.pdf
This is the resulting turtlebot3_burger.pdf graph.
Reference
TBD
- See Hood_NUC_URDF_202011
- Display a 3D representation of Burger
System Integration Parameters
A set of parameters passed to the turtlebot3_node extablish, for example, physical characteristics of the Burger (wheel diameters and separation) and link the URDF frames to odometry. The parameter files is located here on the SBC:
~/turtlebot3_ws/install/turtlebot3_bringup/share/turtlebot3_bringup/param/burger.yaml
The file is copied here: Turblebot3 Burger Foxy Turtlebot3_node Parameters 20210303
Note this declaration targeted at the diff_drive_controller which links the "odom" parent frame to its child "base_footprint". It is necessary so odometry information can be mapped to the location of the laser scanner's frame named "base_scan'. See
- Intel's Navigation2 tutorial Section 2.2 "Launch navigation2 on a Robot" for running RVIZ.
Make sure all transforms from odom are present. (odom->base_link->base_scan)
diff_drive_controller:
ros__parameters:
odometry:
publish_tf: true
use_imu: true
frame_id: "odom"
child_frame_id: "base_footprint"
TF: Transform Topics
Transform topics published by the robot_state_publisher can be captured by
$ ros2 topic echo tf
transforms:
- header:
stamp:
sec: 1614792208
nanosec: 280959974
frame_id: odom
child_frame_id: base_footprint
transform:
translation:
x: 0.13462753501481928
y: 3.9344604215855566e-05
z: 0.0
rotation:
x: 0.0
y: 0.0
z: 0.000571099078903287
w: 0.9999998369229077
---
$ ros2 topic echo tf_static
---
transforms:
- header:
stamp:
sec: 1614799211
nanosec: 126169544
frame_id: base_footprint
child_frame_id: base_link
transform:
translation:
x: 0.0
y: 0.0
z: 0.01
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
- header:
stamp:
sec: 1614799211
nanosec: 126179909
frame_id: base_link
child_frame_id: caster_back_link
transform:
translation:
x: -0.081
y: 0.0
z: -0.004
rotation:
x: -0.706825181105366
y: 0.0
z: 0.0
w: 0.7073882691671998
- header:
stamp:
sec: 1614799211
nanosec: 126187096
frame_id: base_link
child_frame_id: imu_link
transform:
translation:
x: -0.032
y: 0.0
z: 0.068
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
- header:
stamp:
sec: 1614799211
nanosec: 126190638
frame_id: base_link
child_frame_id: base_scan
transform:
translation:
x: -0.032
y: 0.0
z: 0.172
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0
---
