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| | = References= | | = References= |
| | | | |
| − | * [http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/ Overview] | + | * [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]] | + | * [[Dell Setup]] Named sisters |
| − | * [[Turtlebot3 Setup]] | + | * [[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] | + | * [[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
| + | =Enhance with Run Scripts = |
| | | | |
| − | bringup remote
| + | These are script design to make the TB3 easier to bring up. |
| − | roslaunch trutlebot3_bringup turtlebot3_remote.launch on dell
| + | |
| − | turtlebot3_lidar.lauch on turtlebot
| + | |
| − | rosrun rviz .... on dell
| + | |
| − |
| + | |
| − | roslaunch turtlebot3_teleop turtlebote_teleop_key.launch on dell
| + | |
| − | 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
| + | = Enhance with New AI Capabilities = |
| − | ... 2.60, 2.59, 2.10
| + | |
| | | | |
| − | == Keyboard Teleop ==
| + | * [[AI Background Refernces]] |
| − | | + | * [[TB3 Intel ROS Project]] |
| − | Success
| + | |
| − | | + | |
| − | remote
| + | |
| − | roscore
| + | |
| − |
| + | |
| − | roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
| + | |
| − | | + | |
| − | turtlebot
| + | |
| − | | + | |
| − | roslaunch turtlebot3_bringup turtlebot3_core.launch
| + | |
| − | | + | |
| − | == Joystick Teleop ==
| + | |
| − | | + | |
| − | | + | |
| − | === reference ===
| + | |
| − | | + | |
| − | * [[Joystick]] | + | |
| − | | + | |
| − | === Joystick install and test ===
| + | |
| − | | + | |
| − | in VirtualBox for Dual Action ... under devices USM - checked it while it was plugged in.
| + | |
| − | | + | |
| − | it became /dev/input/js2 - tested by plugging in and out
| + | |
| − | | + | |
| − | now
| + | |
| − | lsusb
| + | |
| − | Bus 001 Device 004: ID 046d:c216 Logitech, Inc. Dual Action Gamepad
| + | |
| − | Bus 001 Device 002: ID 80ee:0021 VirtualBox USB Tablet
| + | |
| − | Bus 001 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
| + | |
| − | | + | |
| − | this is now working
| + | |
| − | | + | |
| − | jstest /dev/input/js2
| + | |
| − | Driver version is 2.1.0.
| + | |
| − | Joystick (Logitech Logitech Dual Action) has 6 axes (X, Y, Z, Rz, Hat0X, Hat0Y)
| + | |
| − | 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
| + | |
| − | crw-rw-r--+ 1 root input 13, 2 Feb 9 16:45 /dev/input/js2
| + | |
| − |
| + | |
| − | sudo chmod 666 /dev/input/js2
| + | |
| − |
| + | |
| − | ll /dev/input/js2
| + | |
| − | crw-rw-rw-+ 1 root input 13, 2 Feb 9 16:45 /dev/input/js2
| + | |
| − | | + | |
| − | === test ===
| + | |
| − | | + | |
| − | Terminal 1
| + | |
| − | rosparam set joy_node/dev "/dev/input/js2"
| + | |
| − |
| + | |
| − | rosrun joy joy_node
| + | |
| − | | + | |
| − | Termina 2
| + | |
| − | rostopic echo joy
| + | |
| − | | + | |
| − | === 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
| + | |
| − |
| + | |
| − | roscore
| + | |
| − | | + | |
| − | Terminal 2
| + | |
| − |
| + | |
| − | roslaunch teleop_twist_joy teleop.launch
| + | |
| − | | + | |
| − | Teminal 3 test
| + | |
| − | | + | |
| − | rostopic echo cmd_vel
| + | |
| − | | + | |
| − | turtlebot bringup
| + | |
| − | | + | |
| − | roslaunch turtlebot3_bringup turtlebot3_core.launch
| + | |
| − | | + | |
| − | === config ===
| + | |
| − | | + | |
| − | * [http://support.logitech.com/en_us/product/dual-action-gamepad Logitech Dual Action] | + | |
| − | * [https://www.logitech.com/assets/35017/gamepad-f310-gsw.pdf wrong one]
| + | |
| − | | + | |
| − | | + | |
| − | roscd teleop_twist_joy/launch
| + | |
| − |
| + | |
| − | diff teleop.launch teleop.launch.org
| + | |
| − | 3c3
| + | |
| − | < <arg name="joy_dev" default="/dev/input/js2" />
| + | |
| − | ---
| + | |
| − | > <arg name="joy_dev" default="/dev/input/js0" />
| + | |
| − | | + | |
| − | Today it was js1 and other changes
| + | |
| − | | + | |
| − | diff teleop.launch teleop.launch.org
| + | |
| − | 2,3c2,3
| + | |
| − | < <arg name="joy_config" default="logitech" />
| + | |
| − | < <arg name="joy_dev" default="/dev/input/js1" />
| + | |
| − | ---
| + | |
| − | > <arg name="joy_config" default="ps3" />
| + | |
| − | > <arg name="joy_dev" default="/dev/input/js0" />
| + | |
| − | | + | |
| − | For Logitech G-UF13A Dual Action
| + | |
| − | cat ../config/logitech.config.yaml
| + | |
| − | axis_linear: 1 # Left thumb stick vertical
| + | |
| − | scale_linear: 0.7
| + | |
| − | scale_linear_turbo: 1.5
| + | |
| − |
| + | |
| − | axis_angular: 0 # Left thumb stick horizontal
| + | |
| − | scale_angular: 0.4
| + | |
| − |
| + | |
| − | enable_button: 8 # L2 shoulder button
| + | |
| − | enable_turbo_button: 10 # L1 shoulder button
| + | |
| − | | + | |
| − | == SLAM ==
| + | |
| − | | + | |
| − | remote
| + | |
| − | | + | |
| − | terminal 1
| + | |
| − | | + | |
| − | roscore
| + | |
| − | | + | |
| − | turtlebot
| + | |
| − | | + | |
| − | terminal 1
| + | |
| − |
| + | |
| − | roslaunch turtlebot3_bringup turtlebot3_core.launch
| + | |
| − | | + | |
| − | terminal 2
| + | |
| − | | + | |
| − | roslaunch turtlebot3_bringup turtlebot3_lidar.launch
| + | |
| − | | + | |
| − | remote
| + | |
| − | | + | |
| − | terminal 2
| + | |
| − | | + | |
| − | roslaunch teleop_twist_joy teleop.launch
| + | |
| − | | + | |
| − | terminal 3
| + | |
| − | | + | |
| − | export TURTLEBOT3_MODEL=waffle
| + | |
| − | roslaunch turtlebot3_slam turtlebot3_slam.launch
| + | |
| − | | + | |
| − | terminal 4
| + | |
| − | | + | |
| − | rosrun rviz rviz -d `rospack find turtlebot3_slam`/rviz/turtlebot3_slam.rviz
| + | |
| − | | + | |
| − | 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
| + | |
| − | | + | |
| − | == Real Sense ==
| + | |
| − | | + | |
| − | See 24 Appendix #RealSense
| + | |
| − | | + | |
| − | 353 sudo apt-get install linux-headers-generic
| + | |
| − | 354 sudo apt-get install ros-kinetic-librealsense
| + | |
| − | 355 cd catkin_ws/src
| + | |
| − | 356 cd ~/catkin_ws/src
| + | |
| − | 357 git clone https://github.com/intel-ros/realsense.git
| + | |
| − | 358 ls
| + | |
| − | 359 cd realsense
| + | |
| − | 360 git checkout 1.8.0
| + | |
| − | 361 cd ../..
| + | |
| − | 362 catkin_make -j2
| + | |
| − | | + | |
| − | | + | |
| − | Run RealSense node
| + | |
| − | roslaunch realsense_camera r200_nodelet_default.launch
| + | |
| − | | + | |
| − | | + | |
| − | | + | |
| − | ROS_MASTER_URI=http://10.0.0.157:11311
| + | |
| − |
| + | |
| − | process[camera/nodelet_manager-1]: started with pid [3347]
| + | |
| − | process[camera/driver-2]: started with pid [3348]
| + | |
| − | [ERROR] [1520401984.426480445]: Skipped loading plugin with error: XML Document '/opt/ros/kinetic/share/gmapping/nodelet_plugins.xml' has no Root Element. This likely means the XML is malformed or missing..
| + | |
| − | [FATAL] [1520401984.451311263]: Failed to load nodelet '/camera/driver` of type `realsense_camera/R200Nodelet` to manager `nodelet_manager'
| + | |
| − | [ INFO] [1520401984.490259260]: Initializing nodelet with 4 worker threads.
| + | |
| − | [camera/driver-2] process has died [pid 3348, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load realsense_camera/R200Nodelet nodelet_manager depth:=depth color:=color ir:=ir ir2:=ir2 fisheye:=fisheye imu:=imu __name:=driver __log:=/home/eepp/.ros/log/64429cee-21c2-11e8-ad62-080027c0cb1e/camera-driver-2.log].
| + | |
| − | log file: /home/eepp/.ros/log/64429cee-21c2-11e8-ad62-080027c0cb1e/camera-driver-2*.log
| + | |
| − | ^C[camera/nodelet_manager-1] killing on exit
| + | |
| − | | + | |
| − | | + | |
| − | | + | |
| − | | + | |
| − | * [https://answers.ros.org/question/274849/gmapping-skipping-xml-document/ gmapping skipping xml]
| + | |
| − | Joule stalls
| + | |
| − | | + | |
| − | == 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]
| + | |
| − | | + | |
| − | == Joule Stall After 30 minutes ==
| + | |
| − | | + | |
| − | * [https://discourse.ros.org/t/turtlebot3-joule-stalled/2739 TR3 Joule Stalled]
| + | |
| − | * [https://ubuntuforums.org/showthread.php?t=1661065 How to disable gnome startup]
| + | |
| − | * [https://askubuntu.com/questions/139014/how-to-disable-lightdm/683917 Disable Lightdm]
| + | |
| − | * [https://askubuntu.com/questions/834003/how-to-get-lightdm-automatically-started-at-startup-after-disabling-it-in-ubunt LightDM startup]
| + | |
| | | | |
| | = Movidius = | | = Movidius = |
| | | | |
| − | == References ==
| + | * [[TB3 Movidius Neural Compute Stick]] 2.04 |
| − | | + | * [[TB3 Movidius Newual Compute Stick 1.12]] |
| − | * [https://developer.movidius.com/start Install Start] | + | * [[TB3 Movidius Applications]] |
| − | | + | |
| − | == Install ==
| + | |
| − | | + | |
| − | mkdir -p ~/workspace
| + | |
| − | cd ~/workspace
| + | |
| − | git clone https://github.com/movidius/ncsdk.git
| + | |
| − | ls
| + | |
| − | cd ~/workspace/ncsdk
| + | |
| − | ls
| + | |
| − | make install
| + | |
| − | ...
| + | |
| − | Successfully installed mvnc-1.12.0.1
| + | |
| − | You are using pip version 8.1.1, however version 9.0.1 is available.
| + | |
| − | You should consider upgrading via the 'pip install --upgrade pip' command.
| + | |
| − | NCS Libraries have been installed in /usr/local/lib
| + | |
| − | NCS Toolkit binaries have been installed in /usr/local/bin
| + | |
| − | NCS Include files have been installed in /usr/local/include
| + | |
| − | NCS Python API has been installed in /opt/movidius, and PYTHONPATH environment variable updated
| + | |
| − | Updating udev rules...
| + | |
| − | Adding user 'eepp' to 'users' group
| + | |
| − | Setup is complete.
| + | |
| − | The PYTHONPATH enviroment variable was added to your .bashrc as described in the Caffe documentation.
| + | |
| − | Keep in mind that only newly spawned terminals can see this variable!
| + | |
| − | This means that you need to open a new terminal in order to be able to use the NCSDK.
| + | |
| − | Please provide feedback in our support forum if you encountered difficulties.
| + | |
| − | | + | |
| − | == Investigating Movidus NCS USB Connection ==
| + | |
| − | | + | |
| − | lsusb
| + | |
| − | Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
| + | |
| − | Bus 001 Device 003: ID 03e7:2150
| + | |
| − | Bus 001 Device 002: ID 80ee:0021 VirtualBox USB Tablet
| + | |
| − | Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
| + | |
| − | | + | |
| − | The 03e7 is it
| + | |
| − | | + | |
| − | lsusb -v -s 1:3
| + | |
| − | Bus 001 Device 003: ID 03e7:2150
| + | |
| − | ...
| + | |
| − | idVendor 0x03e7
| + | |
| − | idProduct 0x2150
| + | |
| − | bcdDevice 0.01
| + | |
| − | iManufacturer 1 Movidius Ltd.
| + | |
| − | iProduct 2 Movidius MA2X5X
| + | |
| − | ...
| + | |
| − | | + | |
| − | == Build Examples ==
| + | |
| − | | + | |
| − | === Problem One ===
| + | |
| − | | + | |
| − | cd ~/workspace/ncsdk
| + | |
| − |
| + | |
| − | make examples
| + | |
| − | ...
| + | |
| − | [Error 7] Toolkit Error: USB Failure. Code: No devices found
| + | |
| − | | + | |
| − | === Fix One ===
| + | |
| − | | + | |
| − | * [https://ncsforum.movidius.com/discussion/comment/1731 Macke Examples Error] - followed Tome_at_Intel February 8 instructions
| + | |
| − | | + | |
| − | cd ncsdk/
| + | |
| − |
| + | |
| − | make uninstall
| + | |
| − |
| + | |
| − | cd ..
| + | |
| − |
| + | |
| − | rm -rf ncsdk/
| + | |
| − |
| + | |
| − | git clone https://github.com/movidius/ncsdk
| + | |
| − |
| + | |
| − | cd ncsdk/
| + | |
| − |
| + | |
| − | === Problem Two ===
| + | |
| − | | + | |
| − | making run
| + | |
| − | ....
| + | |
| − | ./run.py
| + | |
| − | Traceback (most recent call last):
| + | |
| − | File "./run.py", line 22, in <module>
| + | |
| − | import cv2
| + | |
| − | ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so: undefined symbol: PyCObject_Type
| + | |
| − | Makefile:91: recipe for target 'run' failed
| + | |
| − | make: *** [run] Error 1
| + | |
| − | | + | |
| − | === Fix Two ===
| + | |
| − | | + | |
| − | [https://stackoverflow.com/questions/48039563/import-error-ros-python3-opencv Import Error ROS python3 opencv]. ROS creates its own open cv which is compatible with python2 only. I do the following.I followed zishan’s instructions
| + | |
| − | | + | |
| − | sudo mv cv2.so cv2_renamed.so
| + | |
| − | | + | |
| − | I noticed that the NCS went away during the make run process. It no longer shows up in the lsusb list. I need to go through the VituralBox Devices -> USB menu to re-enable it.
| + | |
| − | | + | |
| − | I entered make run again.
| + | |
| − | | + | |
| − | === Problem Three ===
| + | |
| − | | + | |
| − | make run
| + | |
| − | ...
| + | |
| − | Performing bulk write of 865724 bytes...
| + | |
| − | Successfully sent 865724 bytes of data in 236.494626 ms (3.491068 MB/s)
| + | |
| − | Boot successful, device address 2
| + | |
| − | Traceback (most recent call last):
| + | |
| − | File "./run.py", line 58, in <module>
| + | |
| − | device.OpenDevice()
| + | |
| − | File "/usr/local/lib/python3.5/dist-packages/mvnc/mvncapi.py", line 147, in OpenDevice
| + | |
| − | raise Exception(Status(status))
| + | |
| − | Exception: mvncStatus.ERROR
| + | |
| − | Makefile:91: recipe for target 'run' failed
| + | |
| − | make: *** [run] Error 1
| + | |
| − | | + | |
| − | lsusb confirms that the Vovidius NCS is not connected
| + | |
| − | | + | |
| − | === Stalled ===
| + | |
| − | | + | |
| − | Reported at
| + | |
| − | [https://ncsforum.movidius.com/discussion/651/compatibility-of-movidius-ncsdk-with-ros?new=1 Compatibility of Movidius ncsdk with ROS]. | + | |
| − | Not sure how to approach this. Going to focus here next.
| + | |
| − | | + | |
| − | * [http://wiki.ros.org/IntelROSProject Intel ROS Project]
| + | |
| | | | |
| | = Support = | | = Support = |
| Line 398: |
Line 48: |
| | * [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] | + | |
