Revision as of 18:38, 21 May 2024

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

This are the known .bashrc setting required for bring up now

 $ tail .bashrc

       // Setup ROS Humble with turtlebot3 additionsselect 
       source /opt/ros/humble/setup.bash
       source ~/turtlebot3_ws/install/setup.bash

       // Setup the Turtlebot3 waffle
       export ROS_DOMAIN_ID=30 #TURTLEBOT3
       export LDS_MODEL=LDS-01
       export TURTLEBOT3_MODEL=waffle

Power Up

Keyboard Teleop

Gives confidence that the bashrc is setting up critical environmental variables and ROS. Major HW component are working and doing much of what we expect. OpenCR and the wheel drivers are working. The remote controler is working.

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

1. Power on the OpenCR board first
   1. wait for the boot finished chime
2. Test the OpenCR by driving the wheels with Robotis controller
   1. Using the Robotis RC100B Controller 20240521
   2. This is an appropriate option when mapping. The waffle can be driven around the area of interest. More latter.
3. Power up adams and log in
4. In T1 bring up

   $ source scripts/bringup.sh

1. 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

LIDAR and RVIZ display

Testing Scripts

bringup

 $ cat scripts/bringup.sh 
       #!/bin/bash
       # ece

       ros2 launch turtlebot3_bringup robot.launch.py

keyboard teleop

 $ cat scripts/keyboard_teleop.sh 
       #!/bin/bash
       # ece

       ros2 run turtlebot3_teleop teleop_keyboard

make_map

 $ cat scripts/make_map.sh 
       #!/bin/bash
       # ece
 
       ros2 launch turtlebot3_cartographer cartographer.launch.py

same_map

 $ cat scripts/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

nav2

 $ cat scripts/nav2.sh 
        #!/bin/bash
        # ece
        #
        # nav2 <map name>

        if [ $# -eq 1 ]
          then
            ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=$HOME/maps/$1.yaml
          else
            echo "save_map <map name>"
        fi