Difference between revisions of "Turtlebot3 Waffle NUC Humble Testing 20240520"
From wikidb
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# Power on the OpenCR board first | # Power on the OpenCR board first | ||
## wait for the boot finished chime | ## wait for the boot finished chime | ||
| − | # Test the OpenCR by | + | # Test the OpenCR by driving the wheels with Robotis controller |
## Using the [[Robotis xxx Controller 20240521]] | ## Using the [[Robotis xxx Controller 20240521]] | ||
| + | ## This is an appropriate option when mapping. The waffle can be driven around the area of interest. More latter. | ||
# Power up adams and log in | # Power up adams and log in | ||
# In T1 bring up | # In T1 bring up | ||
Revision as of 11:44, 21 May 2024
Contents
Goals
Make adams work reliable at boot given the following HW configuration.
- Use a wireless keyboard with an associate wireless mouse to free one USB port
- An HDMI monitor
- Use the OpenCR which will take the second USB port
- The third USB port will be used by the Lidar version 1
- This leaves two lightning ports
- Using power brick that came with to box
The Setting
.bashrc
Power Up
I had a little trouble with controlling the wheels. In particular, the keyboard_teleop didn't work. The following sequence turned out to be reliable. This is something to be debugged latter. In years past I booted the OpenCR and NUC simultaneously and also in any order.
Power up outline
- Power on the OpenCR board first
- wait for the boot finished chime
- Test the OpenCR by driving the wheels with Robotis controller
- Using the Robotis xxx Controller 20240521
- This is an appropriate option when mapping. The waffle can be driven around the area of interest. More latter.
- Power up adams and log in
- In T1 bring up
$ source scripts/bringup.sh
- in T2 bring up the keyboard teleop program
$ source scripts/keyboard_teleop.sh
Bring up log details are at Turtlebot3_Waffle_NUC_Humble_Configure_20240426#Signs_of_Life_Test
