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| − | = References = | + | = Primary References = |
| | | | |
| − | == Robotis ==
| + | * [https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/ TB3 eManual Quick Start] from Robotis |
| | + | ** Set tab to "Humble" |
| | + | * [https://docs.ros.org/en/humble/index.html ROS 2 Humble Documentation] |
| | | | |
| − | * [https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/ TB3 eManual Quick Start] | + | == Goal == |
| | + | |
| | + | The goal is to but as much of the intelligence on the robot as is reasonable. The PC and SBC (Single Board Computer) are combined in a NUC. The installation has been adjusted to accommodate. |
| | + | |
| | + | == Turtlebot3 Overview == |
| | + | |
| | + | * [https://emanual.robotis.com/docs/en/platform/turtlebot3/overview/ Overview] |
| | | | |
| | = Install Ubuntu on NUC Named adams = | | = Install Ubuntu on NUC Named adams = |
| | | | |
| | * [[Turtlebot3 Waffle NUC Install ubuntu jammy 22.04 20240422]] | | * [[Turtlebot3 Waffle NUC Install ubuntu jammy 22.04 20240422]] |
| | + | * [[Turtlebot3 Waffle NUC Maintenance 20240617]] |
| | | | |
| | = Install ROS2 on NUC Named adams = | | = Install ROS2 on NUC Named adams = |
| | | | |
| | * [[Turtlebot3 Waffle NUC Install ROS2 Humble 20240422]] | | * [[Turtlebot3 Waffle NUC Install ROS2 Humble 20240422]] |
| | + | * [[Turtlebot3 Waffle NUC Humble Configure 20240426]] |
| | + | * [[Turtlebot3 Waffle NUC Humble Testing 20240520]] |
| | + | * TBD [[Image Backup]] |
| | | | |
| − | eepp@adams:~/notes$
| + | = ROS 2 Build System = |
| − | eepp@adams:~/notes$
| + | |
| − | eepp@adams:~/notes$ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
| + | |
| − | eepp@adams:~/notes$
| + | |
| − | eepp@adams:~/notes$
| + | |
| − | eepp@adams:~/notes$
| + | |
| − | eepp@adams:~/notes$
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | | + | |
| − | | + | |
| − | | + | |
| − | <pre>
| + | |
| − | eepp@adams:~/notes$
| + | |
| − | eepp@adams:~/notes$ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
| + | |
| − | eepp@adams:~/notes$
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | | + | |
| − | ==Install ROS 2 Packages==
| + | |
| − | | + | |
| − | | + | |
| − | <pre>
| + | |
| − | epp@adams:~/notes$
| + | |
| − | eepp@adams:~/notes$ sudo apt update
| + | |
| − | Hit:1 http://us.archive.ubuntu.com/ubuntu jammy InRelease
| + | |
| − | Hit:2 http://security.ubuntu.com/ubuntu jammy-security InRelease
| + | |
| − | Hit:3 http://us.archive.ubuntu.com/ubuntu jammy-updates InRelease
| + | |
| − | Get:4 http://packages.ros.org/ros2/ubuntu jammy InRelease [4,682 B]
| + | |
| − | Hit:5 http://us.archive.ubuntu.com/ubuntu jammy-backports InRelease
| + | |
| − | Get:6 http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages [1,481 kB]
| + | |
| − | Fetched 1,485 kB in 1s (1,107 kB/s)
| + | |
| − | Reading package lists... Done
| + | |
| − | Building dependency tree... Done
| + | |
| − | Reading state information... Done
| + | |
| − | 5 packages can be upgraded. Run 'apt list --upgradable' to see them.
| + | |
| − | | + | |
| − | | + | |
| − | | + | |
| − | | + | |
| − | eepp@adams:~/notes$
| + | |
| − | eepp@adams:~/notes$ sudo apt upgrade
| + | |
| − | Reading package lists... Done
| + | |
| − | Building dependency tree... Done
| + | |
| − | Reading state information... Done
| + | |
| − | Calculating upgrade... Done
| + | |
| − | 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.
| + | |
| − | The following packages have been kept back:
| + | |
| − | python3-update-manager ubuntu-advantage-tools ubuntu-pro-client-l10n
| + | |
| − | update-manager update-manager-core
| + | |
| − | 0 upgraded, 0 newly installed, 0 to remove and 5 not upgraded.
| + | |
| − | eepp@adams:~/notes$
| + | |
| − | | + | |
| − | </pre>
| + | |
| − | | + | |
| − | | + | |
| − | [[InstallROS2Packages20240416]]
| + | |
| − | | + | |
| − | | + | |
| − | | + | |
| − | <pre>
| + | |
| − | | + | |
| − | eepp@adams:~/notes$
| + | |
| − | eepp@adams:~/notes$ sudo apt install ros-humble-ros-base
| + | |
| − | [sudo] password for eepp:
| + | |
| − | Reading package lists... Done
| + | |
| − | Building dependency tree... Done
| + | |
| − | Reading state information... Done
| + | |
| − | ros-humble-ros-base is already the newest version (0.10.0-1jammy.20240217.113903).
| + | |
| − | ros-humble-ros-base 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 5 not upgraded.
| + | |
| − | eepp@adams:~/notes$
| + | |
| − | | + | |
| − | </pre>
| + | |
| − | | + | |
| − | | + | |
| − | | + | |
| − | [[InstallROS2PackagesPart3-20240416]]
| + | |
| − | | + | |
| − | == Environment Setup ==
| + | |
| − | | + | |
| − | * See this section in
| + | |
| − | * [https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html Ubuntu Install Debians]
| + | |
| − | | + | |
| − | | + | |
| − | eepp@adams:~$ emacs ~/.bashrc &
| + | |
| − | | + | |
| − | * add at the end
| + | |
| − | // Setup ROS Humble
| + | |
| − | source /opt/ros/humble/setup.bash
| + | |
| − | | + | |
| − | == Example Talker Listener ==
| + | |
| − | | + | |
| − | '''TERMINAL 1'''
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | eepp@adams:~$ ros2 run demo_nodes_cpp talker
| + | |
| − | [INFO] [1713744119.577519274] [talker]: Publishing: 'Hello World: 1'
| + | |
| − | [INFO] [1713744120.577533489] [talker]: Publishing: 'Hello World: 2'
| + | |
| − | [INFO] [1713744121.577567785] [talker]: Publishing: 'Hello World: 3'
| + | |
| − | [INFO] [1713744122.577595544] [talker]: Publishing: 'Hello World: 4'
| + | |
| − | [INFO] [1713744123.577632438] [talker]: Publishing: 'Hello World: 5'
| + | |
| − | [INFO] [1713744124.577659430] [talker]: Publishing: 'Hello World: 6'
| + | |
| − | [INFO] [1713744125.577675939] [talker]: Publishing: 'Hello World: 7'
| + | |
| − | [INFO] [1713744126.577718998] [talker]: Publishing: 'Hello World: 8'
| + | |
| − | [INFO] [1713744127.577753904] [talker]: Publishing: 'Hello World: 9'
| + | |
| − | [INFO] [1713744128.577793539] [talker]: Publishing: 'Hello World: 10'
| + | |
| − | [INFO] [1713744129.577829964] [talker]: Publishing: 'Hello World: 11'
| + | |
| − | [INFO] [1713744130.577790922] [talker]: Publishing: 'Hello World: 12'
| + | |
| − | [INFO] [1713744131.577873203] [talker]: Publishing: 'Hello World: 13'
| + | |
| − | [INFO] [1713744132.577905447] [talker]: Publishing: 'Hello World: 14'
| + | |
| − | [INFO] [1713744133.577939617] [talker]: Publishing: 'Hello World: 15'
| + | |
| − | ^C[INFO] [1713744133.625163376] [rclcpp]: signal_handler(signum=2)
| + | |
| − | eepp@adams:~$
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | '''TERMINAL 2'''
| + | |
| − | | + | |
| − | <pre>
| + | |
| − | eepp@adams:~$ ros2 run demo_nodes_py listener
| + | |
| − | [INFO] [1713744125.584516000] [listener]: I heard: [Hello World: 7]
| + | |
| − | [INFO] [1713744126.578340393] [listener]: I heard: [Hello World: 8]
| + | |
| − | [INFO] [1713744127.578443721] [listener]: I heard: [Hello World: 9]
| + | |
| − | [INFO] [1713744128.578487730] [listener]: I heard: [Hello World: 10]
| + | |
| − | [INFO] [1713744129.578498026] [listener]: I heard: [Hello World: 11]
| + | |
| − | ^Ceepp@adams:~$
| + | |
| − | </pre>
| + | |
| − | | + | |
| − | == Copied Navigation Scripts from Hood ==
| + | |
| − | | + | |
| − | 84 mkdir scripts
| + | |
| − | 87 cd scripts/
| + | |
| − | 93 scp 10.0.0.111:scripts/make_map.sh .
| + | |
| − | 94 scp 10.0.0.111:scripts/nav2.sh .
| + | |
| − | 95 scp 10.0.0.111:scripts/keyboard_teleop.sh .
| + | |
| − | 96 scp 10.0.0.111:scripts/keyboard_save_map.sh .
| + | |
| − | 97 scp 10.0.0.111:scripts/save_map.sh .
| + | |
| − | 98 ls
| + | |
| − | 99 ll
| + | |
| − | | + | |
| − | = PC Setup =
| + | |
| − | | + | |
| − | * [https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/#pc-setup PC Setup]
| + | |
| − | * make sure "Humble" tab is selected
| + | |
| − | | + | |
| − | | + | |
| − | == Install Dependent ROS Packages ==
| + | |
| − | | + | |
| − | === Gazebo ===
| + | |
| | | | |
| − | * [[Install Gazebo NUC 20240422]] | + | * [[ROS 2 Build System 20240524]] |
| | | | |
| − | === Cartographer === | + | = Managing URDF Files = |
| | | | |
| − | * [[Install Cartographer NUC 20240422]] | + | * [[Turtlebot3 Waffle Nuc HW 20240623]] |
| | + | * [[Turtlebot3 URDF Editing 20240524]] |
| | + | * [[Turtlebot3 Waffle Nuc URDF 20240623]] |
| | | | |
| − | === Navagation2 === | + | = Power Management = |
| | | | |
| − | * [[Install Navagation2 NUC 20240422]] | + | * [https://www.intel.com/content/www/us/en/support/articles/000007053/intel-nuc/intel-nuc-kits.html Power Adapter and Power Cord Specificiaton] |
| | + | * [[NUC_D54250WYK]] |
| | | | |
| − | === Turtlebot3 === | + | = Bringup Goal = |
| | | | |
| − | * [[Install Turtlebot3 Packages NUC 20240422]] | + | * [https://events.vtools.ieee.org/m/265434 TURTLEBOT3 BURGER BUILD 02 Build Introduction] |
| | | | |
| − | == Environment == | + | = Adams SW Installations = |
| | | | |
| − | $ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
| + | * [[Adams SW Installations]] |
| − | $ source ~/.bashrc
| + | |
The goal is to but as much of the intelligence on the robot as is reasonable. The PC and SBC (Single Board Computer) are combined in a NUC. The installation has been adjusted to accommodate.
