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| = References= | | = References= |
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− | * [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]] | | * [[TurtleBox3 Access Point]] |
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| * [[TB3 SLAM Test]] | | * [[TB3 SLAM Test]] |
| * [[TB3 Nav Test]] | | * [[TB3 Nav Test]] |
| + | * DEPRECIATED [[TB3 RealSense Test]] |
| + | * [[TB3 Install ROS RealSense 2]] |
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− | = Run Scripts = | + | =Enhance with Run Scripts = |
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| These are script design to make the TB3 easier to bring up. | | These are script design to make the TB3 easier to bring up. |
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− | * [[B3 Setting up ROS Project Structure]] | + | * [[TB3 Setting up ROS Project Structure]] |
| * [https://github.com/edcepp/tr3host My github Remote Scripts] | | * [https://github.com/edcepp/tr3host My github Remote Scripts] |
| * [[Git Repository Setup]] | | * [[Git Repository Setup]] |
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| * [[TurtleBot3 Run Scripts]]: How to run them | | * [[TurtleBot3 Run Scripts]]: How to run them |
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− | = ToBe Organized = | + | = Enhance with New AI Capabilities = |
− | == Real Sense ==
| + | |
| | | |
− | See 24 Appendix #RealSense
| + | * [[AI Background Refernces]] |
− | | + | * [[TB3 Intel ROS Project]] |
− | 353 sudo apt-get install linux-headers-generic
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− | 354 sudo apt-get install ros-kinetic-librealsense
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− | 355 cd catkin_ws/src
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− | 356 cd ~/catkin_ws/src
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− | 357 git clone https://github.com/intel-ros/realsense.git
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− | 358 ls
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− | 359 cd realsense
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− | 360 git checkout 1.8.0
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− | 361 cd ../..
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− | 362 catkin_make -j2
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− | | + | |
− | | + | |
− | Run RealSense node
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− | roslaunch realsense_camera r200_nodelet_default.launch
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− | | + | |
− | | + | |
− | | + | |
− | ROS_MASTER_URI=http://10.0.0.157:11311
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− |
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− | process[camera/nodelet_manager-1]: started with pid [3347]
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− | process[camera/driver-2]: started with pid [3348]
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− | [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..
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− | [FATAL] [1520401984.451311263]: Failed to load nodelet '/camera/driver` of type `realsense_camera/R200Nodelet` to manager `nodelet_manager'
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− | [ INFO] [1520401984.490259260]: Initializing nodelet with 4 worker threads.
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− | [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].
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− | log file: /home/eepp/.ros/log/64429cee-21c2-11e8-ad62-080027c0cb1e/camera-driver-2*.log
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− | ^C[camera/nodelet_manager-1] killing on exit
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− | * [https://answers.ros.org/question/274849/gmapping-skipping-xml-document/ gmapping skipping xml]
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− | Joule stalls
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− | | + | |
− | == Checksum Errors ==
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− | | + | |
− | * [https://github.com/ROBOTIS-GIT/turtlebot3/issues/108 Checksum error]
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− | * [https://discourse.ros.org/t/turtlebot3-software-and-firmware-update-and-waffle-pi/3729 SW and Firmware updater] | + | |
− | | + | |
− | == Joule Stall After 30 minutes ==
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− | | + | |
− | * [https://discourse.ros.org/t/turtlebot3-joule-stalled/2739 TR3 Joule Stalled]
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− | * [https://ubuntuforums.org/showthread.php?t=1661065 How to disable gnome startup]
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− | * [https://askubuntu.com/questions/139014/how-to-disable-lightdm/683917 Disable Lightdm]
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− | * [https://askubuntu.com/questions/834003/how-to-get-lightdm-automatically-started-at-startup-after-disabling-it-in-ubunt LightDM startup]
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| = Movidius = | | = Movidius = |
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− | == 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 ==
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− | | + | |
− | mkdir -p ~/workspace
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− | cd ~/workspace
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− | git clone https://github.com/movidius/ncsdk.git
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− | ls
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− | cd ~/workspace/ncsdk
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− | ls
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− | make install
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− | ...
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− | Successfully installed mvnc-1.12.0.1
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− | You are using pip version 8.1.1, however version 9.0.1 is available.
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− | You should consider upgrading via the 'pip install --upgrade pip' command.
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− | NCS Libraries have been installed in /usr/local/lib
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− | NCS Toolkit binaries have been installed in /usr/local/bin
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− | NCS Include files have been installed in /usr/local/include
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− | NCS Python API has been installed in /opt/movidius, and PYTHONPATH environment variable updated
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− | Updating udev rules...
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− | Adding user 'eepp' to 'users' group
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− | Setup is complete.
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− | The PYTHONPATH enviroment variable was added to your .bashrc as described in the Caffe documentation.
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− | Keep in mind that only newly spawned terminals can see this variable!
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− | This means that you need to open a new terminal in order to be able to use the NCSDK.
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− | Please provide feedback in our support forum if you encountered difficulties.
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− | | + | |
− | == Investigating Movidus NCS USB Connection ==
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− | | + | |
− | lsusb
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− | Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
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− | Bus 001 Device 003: ID 03e7:2150
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− | Bus 001 Device 002: ID 80ee:0021 VirtualBox USB Tablet
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− | Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
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− | | + | |
− | The 03e7 is it
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− | | + | |
− | lsusb -v -s 1:3
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− | Bus 001 Device 003: ID 03e7:2150
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− | ...
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− | idVendor 0x03e7
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− | idProduct 0x2150
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− | bcdDevice 0.01
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− | iManufacturer 1 Movidius Ltd.
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− | iProduct 2 Movidius MA2X5X
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− | ...
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− | | + | |
− | == Build Examples ==
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− | | + | |
− | === Problem One ===
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− | | + | |
− | cd ~/workspace/ncsdk
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− |
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− | make examples
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− | ...
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− | [Error 7] Toolkit Error: USB Failure. Code: No devices found
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− | | + | |
− | === Fix One ===
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− | | + | |
− | * [https://ncsforum.movidius.com/discussion/comment/1731 Macke Examples Error] - followed Tome_at_Intel February 8 instructions
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− | | + | |
− | cd ncsdk/
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− |
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− | make uninstall
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− |
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− | cd ..
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− |
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− | rm -rf ncsdk/
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− |
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− | git clone https://github.com/movidius/ncsdk
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− |
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− | cd ncsdk/
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− |
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− | === Problem Two ===
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− | | + | |
− | making run
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− | ....
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− | ./run.py
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− | Traceback (most recent call last):
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− | File "./run.py", line 22, in <module>
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− | import cv2
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− | ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so: undefined symbol: PyCObject_Type
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− | Makefile:91: recipe for target 'run' failed
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− | make: *** [run] Error 1
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− | | + | |
− | === Fix Two ===
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− | | + | |
− | [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
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− | | + | |
− | sudo mv cv2.so cv2_renamed.so
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− | | + | |
− | 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.
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− | | + | |
− | I entered make run again.
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− | | + | |
− | === Problem Three ===
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− | | + | |
− | make run
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− | ...
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− | Performing bulk write of 865724 bytes...
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− | Successfully sent 865724 bytes of data in 236.494626 ms (3.491068 MB/s)
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− | Boot successful, device address 2
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− | Traceback (most recent call last):
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− | File "./run.py", line 58, in <module>
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− | device.OpenDevice()
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− | File "/usr/local/lib/python3.5/dist-packages/mvnc/mvncapi.py", line 147, in OpenDevice
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− | raise Exception(Status(status))
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− | Exception: mvncStatus.ERROR
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− | Makefile:91: recipe for target 'run' failed
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− | make: *** [run] Error 1
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− | | + | |
− | lsusb confirms that the Vovidius NCS is not connected
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− | | + | |
− | === Stalled ===
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− | | + | |
− | Reported at
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− | [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.
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− | | + | |
− | === Next Steps ===
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− | | + | |
− | * [http://wiki.ros.org/IntelROSProject Intel ROS Project]
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− | * [https://software.intel.com/en-us/articles/build-an-image-classifier-in-5-steps-on-the-intel-movidius-neural-compute-stick?cid=em-elq-34588&utm_source=elq&utm_medium=email&utm_campaign=34588&elq_cid=2906208 Build an Image Classifier in 5 steps on the Intel® Movidius™ Neural Compute Stick]
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| = 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 =
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− | | + | |
− | * [http://emanual.robotis.com/docs/en/parts/controller/opencr10/ OpenCR eManual] | + | |
These are script design to make the TB3 easier to bring up.