Revision as of 15:46, 27 April 2024

Goal is to install stuff from the SBC instructions to bring up

Installs

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

Already Installed

eepp@adams:~$ 
eepp@adams:~$ 
eepp@adams:~$ 
eepp@adams:~$ sudo apt install python3-argcomplete python3-colcon-common-extensions libboost-system-dev build-essential
[sudo] password for eepp: 
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
build-essential is already the newest version (12.9ubuntu3).
build-essential set to manually installed.
libboost-system-dev is already the newest version (1.74.0.3ubuntu7).
libboost-system-dev set to manually installed.
python3-argcomplete is already the newest version (1.8.1-1.5).
python3-argcomplete set to manually installed.
python3-colcon-common-extensions is already the newest version (0.3.0-1).
python3-colcon-common-extensions set to manually installed.
The following packages were automatically installed and are no longer required:
  libwpe-1.0-1 libwpebackend-fdo-1.0-1
Use 'sudo apt autoremove' to remove them.
0 upgraded, 0 newly installed, 0 to remove and 3 not upgraded.

Already Installed

eepp@adams:~$ 
eepp@adams:~$ 
eepp@adams:~$ sudo apt install ros-humble-hls-lfcd-lds-driver
[sudo] password for eepp: 
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
ros-humble-hls-lfcd-lds-driver is already the newest version (2.0.4-3jammy.20240217.075709).
ros-humble-hls-lfcd-lds-driver set to manually installed.
The following packages were automatically installed and are no longer required:
  libwpe-1.0-1 libwpebackend-fdo-1.0-1
Use 'sudo apt autoremove' to remove them.
0 upgraded, 0 newly installed, 0 to remove and 3 not upgraded.

Already Installed

eepp@adams:~$ sudo apt install ros-humble-turtlebot3-msgs
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
ros-humble-turtlebot3-msgs is already the newest version (2.2.3-1jammy.20240217.052132).
The following packages were automatically installed and are no longer required:
  libwpe-1.0-1 libwpebackend-fdo-1.0-1
Use 'sudo apt autoremove' to remove them.
0 upgraded, 0 newly installed, 0 to remove and 3 not upgraded.

Already Installed

eepp@adams:~$ 
eepp@adams:~$ sudo apt install ros-humble-dynamixel-sdk
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
ros-humble-dynamixel-sdk is already the newest version (3.7.60-1jammy.20240217.032348).
The following packages were automatically installed and are no longer required:
  libwpe-1.0-1 libwpebackend-fdo-1.0-1
Use 'sudo apt autoremove' to remove them.
0 upgraded, 0 newly installed, 0 to remove and 3 not upgraded.

Already Installed

eepp@adams:~$ sudo apt install libudev-dev
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
libudev-dev is already the newest version (249.11-0ubuntu3.12).
libudev-dev set to manually installed.
The following packages were automatically installed and are no longer required:
  libwpe-1.0-1 libwpebackend-fdo-1.0-1
Use 'sudo apt autoremove' to remove them.
0 upgraded, 0 newly installed, 0 to remove and 3 not upgraded.

Set up the Work Space

eepp@adams:~$ mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src


eepp@adams:~/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.


eepp@adams:~/turtlebot3_ws/src$ 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

eepp@adams:~/turtlebot3_ws/src/turtlebot3$ 
eepp@adams:~/turtlebot3_ws/src/turtlebot3$ cd ~/turtlebot3_ws/src/turtlebot3
eepp@adams:~/turtlebot3_ws/src/turtlebot3$ 
eepp@adams:~/turtlebot3_ws/src/turtlebot3$ 
eepp@adams:~/turtlebot3_ws/src/turtlebot3$ 
eepp@adams:~/turtlebot3_ws/src/turtlebot3$ 
eepp@adams:~/turtlebot3_ws/src/turtlebot3$ 
eepp@adams:~/turtlebot3_ws/src/turtlebot3$ rm -r turtlebot3_cartographer turtlebot3_navigation2
eepp@adams:~/turtlebot3_ws/src/turtlebot3$ 
eepp@adams:~/turtlebot3_ws/src/turtlebot3$ 
eepp@adams:~/turtlebot3_ws/src/turtlebot3$ 
eepp@adams:~/turtlebot3_ws/src/turtlebot3$ 
eepp@adams:~/turtlebot3_ws/src/turtlebot3$ cd ~/turtlebot3_ws/
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ source ~/.bashrc
bash: //: Is a directory
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ 

build

eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ 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)
      |                                             ~~~~~^~~~~~~~~~~~~
---
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
eepp@adams:~/turtlebot3_ws$ 





eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ source ~/.bashrc
bash: //: Is a directory
eepp@adams:~/turtlebot3_ws$ 

USB

eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ sudo cp `ros2 pkg prefix turtlebot3_bringup`/share/turtlebot3_bringup/script/99-turtlebot3-cdc.rules /etc/udev/rules.d/
[sudo] password for eepp: 
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ udevadm control --reload-rules
Failed to send reload request: Permission denied
eepp@adams:~/turtlebot3_ws$ sudo udevadm control --reload-rules
eepp@adams:~/turtlebot3_ws$ sudo udevadm trigger

Signs of Life Test

eepp@adams:~/turtlebot3_ws$ ls ../scripts/
bringup.sh  keyboard_teleop.sh  make_map.sh  nav2.sh  save_map.sh
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ 
eepp@adams:~/turtlebot3_ws$ 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

Missing Stuff

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

• export TURTLEBOT3_MODEL=waffle

• source scripts/bringup.sh

• source scripts/keyboard_teleop.sh