Difference between revisions of "Turtlebot3 Waffle Joule ROS 1 Kinetic"

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= References=
 
= References=
  
* [http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/ Overview]
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* [http://www.pishrobot.com/wp-content/uploads/2018/02/ROS-robot-programming-book-by-turtlebo3-developers-EN.pdf Book: ROS Robot Programming Book by Turtlebot3 Developers]
 +
* [http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/ Build Manual Overview]
 
* [https://spectrum.ieee.org/automaton/robotics/robotics-hardware/review-robotis-turtlebot-3 Spectrum: Hands-on With TurtleBot 3, a Powerful Little Robot for Learning ROS]
 
* [https://spectrum.ieee.org/automaton/robotics/robotics-hardware/review-robotis-turtlebot-3 Spectrum: Hands-on With TurtleBot 3, a Powerful Little Robot for Learning ROS]
  
 
= Setup =
 
= Setup =
* [[Dell Setup]]
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* [[Dell Setup]] Named sisters
* [[Turtlebot3 Setup]]
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* [[Turtlebot3 Setup]] Name box - as in Box Turtle
 
* [[OpenCR Setup]]
 
* [[OpenCR Setup]]
 +
* [[TurtleBox3 Access Point]]
  
= Bringup =
+
= System Test =
  
* [http://learn.turtlebot.com/2015/02/01/7/ ssh]
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* [[TB3 Initial Bring Up]]
 +
* [[TB3 Keyboard Teleop]]
 +
* [[TB3 Joy Stick Teleop]]
 +
* [[TB3 SLAM Test]]
 +
* [[TB3 Nav Test]]
 +
* DEPRECIATED [[TB3 RealSense Test]]
 +
* [[TB3 Install ROS RealSense 2]]
  
  sudo apt-get install openssh-server - required for Fetch and ssh on Mac
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=Enhance with Run Scripts =
  
bringup remote
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These are script design to make the TB3 easier to bring up.
  roslaunch trutlebot3_bringup turtlebot3_remote.launch on dell
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                                                  turtlebot3_lidar.lauch        on turtlebot
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  rosrun rviz ....                                                                      on dell
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  roslaunch turtlebot3_teleop turtlebote_teleop_key.launch  on dell
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teleop ran but didn't work
+
  
 +
* [[TB3 Setting up ROS Project Structure]]
 +
* [https://github.com/edcepp/tr3host My github Remote Scripts]
 +
* [[Git Repository Setup]]
 +
* [[Git Commands]]
 +
* [[TurtleBot3 Run Scripts]]: How to run them
  
  uptime
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= Enhance with New AI Capabilities =
    ... 2.60, 2.59, 2.10
+
  
== Keyboard Teleop ==
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* [[AI Background Refernces]]
 +
* [[TB3 Intel ROS Project]]
  
Success
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= Movidius =
  
remote
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* [[TB3 Movidius Neural Compute Stick]] 2.04
  roscore
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* [[TB3 Movidius Newual Compute Stick 1.12]]
 
+
* [[TB3 Movidius Applications]]
  roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
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+
turtlebot
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+
  roslaunch turtlebot3_bringup turtlebot3_core.launch
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+
== Joystick Teleop ==
+
 
+
 
+
=== reference ===
+
 
+
* [[Joystick]]
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=== Joystick install and test ===
+
 
+
in VirtualBox for Dual Action ... under devices USM - checked it while it was plugged in.
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+
it became /dev/input/js2 - tested by plugging in and out
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+
now
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  lsusb
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  Bus 001 Device 004: ID 046d:c216 Logitech, Inc. Dual Action Gamepad
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  Bus 001 Device 002: ID 80ee:0021 VirtualBox USB Tablet
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  Bus 001 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub 
+
 
+
this is now working
+
 
+
  jstest /dev/input/js2
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  Driver version is 2.1.0.
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  Joystick (Logitech Logitech Dual Action) has 6 axes (X, Y, Z, Rz, Hat0X, Hat0Y)
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  and 12 buttons (Trigger, ThumbBtn, ThumbBtn2, TopBtn, TopBtn2, PinkieBtn, BaseBtn, BaseBtn2, BaseBtn3,    BaseBtn4, BaseBtn5, BaseBtn6).
+
  Testing ... (interrupt to exit)
+
  Axes:  0:    0  1:    0  2:    0  3:    0  4:    0  5:    0 Buttons:  0:ofAxes:  0:    0  1:    0
+
 
+
  ll /dev/input/js2
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    crw-rw-r--+ 1 root input 13, 2 Feb  9 16:45 /dev/input/js2
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+
  sudo chmod 666 /dev/input/js2
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+
  ll /dev/input/js2
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    crw-rw-rw-+ 1 root input 13, 2 Feb  9 16:45 /dev/input/js2
+
 
+
=== test ===
+
 
+
Terminal 1
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  rosparam set joy_node/dev "/dev/input/js2"
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  rosrun joy joy_node
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+
Termina 2
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  rostopic echo joy
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+
=== run ===
+
 
+
remote - after configuration below this works
+
 
+
Terminal 1
+
  sudo apt-get install xboxdrv ros-kinetic-joy ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-joy
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+
  roscore
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+
Terminal 2
+
 
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  roslaunch teleop_twist_joy teleop.launch
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+
Teminal 3 test
+
 
+
  rostopic echo cmd_vel
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+
turtlebot bringup
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+
  roslaunch turtlebot3_bringup turtlebot3_core.launch
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+
=== config ===
+
 
+
* [http://support.logitech.com/en_us/product/dual-action-gamepad Logitech Dual Action]
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* [https://www.logitech.com/assets/35017/gamepad-f310-gsw.pdf wrong one]
+
 
+
 
+
  roscd teleop_twist_joy/launch
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+
  diff teleop.launch teleop.launch.org
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    3c3
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    <  <arg name="joy_dev" default="/dev/input/js2" />
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    ---
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    >  <arg name="joy_dev" default="/dev/input/js0" />
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+
Today it was js1 and other changes
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+
  diff teleop.launch teleop.launch.org
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    2,3c2,3
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    <  <arg name="joy_config" default="logitech" />
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    <  <arg name="joy_dev" default="/dev/input/js1" />
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    ---
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    >  <arg name="joy_config" default="ps3" />
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    >  <arg name="joy_dev" default="/dev/input/js0" />
+
 
+
For Logitech G-UF13A Dual Action
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  cat ../config/logitech.config.yaml
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    axis_linear: 1 # Left thumb stick vertical
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    scale_linear: 0.7
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    scale_linear_turbo: 1.5
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+
    axis_angular: 0  # Left thumb stick horizontal
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    scale_angular: 0.4
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+
    enable_button: 8  # L2 shoulder button
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    enable_turbo_button: 10  # L1 shoulder button
+
 
+
== SLAM ==
+
 
+
remote
+
 
+
terminal 1
+
 
+
  roscore
+
 
+
turtlebot
+
 
+
terminal 1
+
 
+
  roslaunch turtlebot3_bringup turtlebot3_core.launch
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+
terminal 2
+
 
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  roslaunch turtlebot3_bringup turtlebot3_lidar.launch
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+
remote
+
 
+
terminal 2
+
 
+
  roslaunch teleop_twist_joy teleop.launch
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+
terminal 3
+
 
+
  export TURTLEBOT3_MODEL=waffle
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  roslaunch turtlebot3_slam turtlebot3_slam.launch
+
 
+
terminal 4
+
 
+
  rosrun rviz rviz -d `rospack find turtlebot3_slam`/rviz/turtlebot3_slam.rviz
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+
terminal 5
+
 
+
  rosrun map_server map_saver -f ~/map
+
 
+
== Nav ==
+
 
+
turtle - just like above
+
 
+
remote
+
 
+
terminal 2
+
 
+
  export TURTLEBOT3_MODEL=waffle
+
+
  roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map2.yaml
+
 
+
terminal 3
+
 
+
  rosrun rviz rviz -d `rospack find turtlebot3_navigation`/rviz/rtlebot3_nav.rviz
+
 
+
== Project Lauch ==
+
 
+
* [[Integrate_roslaunch_into_Roslaunch]]
+
 
+
sisters
+
 
+
  cd catkin_ws/src/
+
 
+
  catkin_create_pkg host
+
 
+
box
+
 
+
  cd catkin_ws/src/
+
 
+
  catkin_create_pkg client
+
 
+
Question: should I run?
+
  . catkin_ws_indigo/devel/setup.bash
+
 
+
[[TB3 Project Customization]]
+
 
+
== Checksum Errors ==
+
 
+
* [https://github.com/ROBOTIS-GIT/turtlebot3/issues/108 Checksum error]
+
* [https://discourse.ros.org/t/turtlebot3-software-and-firmware-update-and-waffle-pi/3729 SW and Firmware updater]
+
  
 
= Support =
 
= Support =
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* [http://intel622.rssing.com/chan-23628082/all_p601.html intel]
 
* [http://intel622.rssing.com/chan-23628082/all_p601.html intel]
 
* [http://docplayer.net/63196554-Turtlebot3-documentation.html doc pdf don't trust site]
 
* [http://docplayer.net/63196554-Turtlebot3-documentation.html doc pdf don't trust site]
 
+
* [https://discourse.ros.org/t/download-the-ros-robot-programming-book-for-free/3917 ROS Robot Programming - TurtleBot3 Download]
= OpenCR =
+
 
+
* [http://emanual.robotis.com/docs/en/parts/controller/opencr10/ OpenCR e=Manual]
+

Latest revision as of 11:43, 18 March 2021

References

Setup

System Test

Enhance with Run Scripts

These are script design to make the TB3 easier to bring up.

Enhance with New AI Capabilities

Movidius

Support