Difference between revisions of "Turtlebot3 Waffle NUC Humble Configure 20240426"
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| − | + | $ 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]: 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] [launch]: Default logging verbosity is set to INFO | ||
Revision as of 16:26, 18 May 2024
Goal is to install stuff from the SBC instructions to bring up
- SBC Setup
- let's see what we need starting in step 13. Suspect the install were already done
Contents
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
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/keyboard_save_map.sh . $ scp 10.0.0.111:scripts/save_map.sh .
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
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
