Difference between revisions of "Hood NUC Melih ROS2 TB3 Install"
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= Reference = | = Reference = | ||
| − | * [https://github.com/mlherd/navigation2/tree/new-tutorials/doc/tb3_tutorial Intel TB3 Tutorial]: The | + | * [https://github.com/mlherd/navigation2/tree/new-tutorials/doc/tb3_tutorial Intel TB3 Tutorial]: The tutorial instructions by Melih |
* [https://github.com/ros2/cartographer cartographer] | * [https://github.com/ros2/cartographer cartographer] | ||
| + | |||
| + | See Melih's tutorial section "ROS 2 Turtlebot 3 Installation" | ||
= ROS 2 Turtlebot 3 Installation = | = ROS 2 Turtlebot 3 Installation = | ||
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Summary: 13 packages finished [1min 17s] | Summary: 13 packages finished [1min 17s] | ||
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Latest revision as of 14:08, 31 January 2020
Contents
Context
January 18, 2020
ROS 2 on Turtlebot 3 takes place here. Navigation will be removed from the install. I suspect so that the we will be working with the a current release of the Intel Navigation 2 stack.
Reference
- Intel TB3 Tutorial: The tutorial instructions by Melih
- cartographer
See Melih's tutorial section "ROS 2 Turtlebot 3 Installation"
ROS 2 Turtlebot 3 Installation
Install Cartographer dependencies
The following was already installed previously.
$ sudo apt install -y \
google-mock \
libceres-dev \
liblua5.3-dev \
libboost-dev \
libboost-iostreams-dev \
libprotobuf-dev \
protobuf-compiler \
libcairo2-dev \
libpcl-dev \
python3-sphinx
See Hood ROS2 Melih Cartography Dependencies Log
The following was already installed previously as well.
$ sudo apt install -y \
libsdl-image1.2 \
libsdl-image1.2-dev \
libsdl1.2debian \
libsdl1.2-dev
See Hood ROS2 Melih Navigation2 Dependencies Log
Create a Workspace for TB3
eepp@hood:navigation2_ws$ cd ~/ros2_all_ws eepp@hood:ros2_all_ws$ mkdir turtlebot3_ws eepp@hood:ros2_all_ws$ cd turtlebot3_ws eepp@hood:turtlebot3_ws$ mkdir src
Clone all the up to date repositories
eepp@hood:turtlebot3_ws$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/ros2/turtlebot3.repos --2020-01-18 10:33:00-- https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/ros2/turtlebot3.repos Resolving raw.githubusercontent.com (raw.githubusercontent.com)... 151.101.52.133 Connecting to raw.githubusercontent.com (raw.githubusercontent.com)|151.101.52.133|:443... connected. HTTP request sent, awaiting response... 200 OK Length: 620 [text/plain] Saving to: ‘turtlebot3.repos’ turtlebot3.repos 100%[===================>] 620 --.-KB/s in 0s 2020-01-18 10:33:00 (32.7 MB/s) - ‘turtlebot3.repos’ saved [620/620] eepp@hood:turtlebot3_ws$ vcs import src < turtlebot3.repos ..... === src/turtlebot3/turtlebot3 (git) === Cloning into '.'... Switched to a new branch 'ros2' Branch 'ros2' set up to track remote branch 'ros2' from 'origin'. === src/turtlebot3/turtlebot3_msgs (git) === Cloning into '.'... Switched to a new branch 'ros2' Branch 'ros2' set up to track remote branch 'ros2' from 'origin'. === src/turtlebot3/turtlebot3_simulations (git) === Cloning into '.'... Switched to a new branch 'ros2' Branch 'ros2' set up to track remote branch 'ros2' from 'origin'. === src/utils/DynamixelSDK (git) === Cloning into '.'... Switched to a new branch 'ros2' Branch 'ros2' set up to track remote branch 'ros2' from 'origin'. === src/utils/hls_lfcd_lds_driver (git) === Cloning into '.'... Switched to a new branch 'ros2' Branch 'ros2' set up to track remote branch 'ros2' from 'origin'.
Remove Navigation Stack
eepp@hood:turtlebot3_ws$ cd ~/ros2_all_ws/turtlebot3_ws/src
eepp@hood:src$ ls
turtlebot3 utils
eepp@hood:src$ sudo rm -r navigation2
rm: cannot remove 'navigation2': No such file or directory
eepp@hood:src$ cd ~/ros2_all_ws/turtlebot3_ws
Not sure why this happened but it made sense at the time.
Build the Package
Source the previous built packages first
eepp@hood:turtlebot3_ws$ source ~/ros2_all_ws/ros2_ws/install/setup.bash
ROS_DISTRO was set to 'foxy' before. Please make sure that the environment does not mix paths from different distributions.
ROS_DISTRO was set to 'dashing' before. Please make sure that the environment does not mix paths from different distributions.
eepp@hood:turtlebot3_ws$ source ~/ros2_all_ws/navigation2_ws/install/setup.bash
ROS_DISTRO was set to 'foxy' before. Please make sure that the environment does not mix paths from different distributions.
ROS_DISTRO was set to 'dashing' before. Please make sure that the environment does not mix paths from different distributions.
eepp@hood:turtlebot3_ws$ source ~/ros2_all_ws/navstack_dependencies_ws/install/setup.bash
ROS_DISTRO was set to 'foxy' before. Please make sure that the environment does not mix paths from different distributions.
ROS_DISTRO was set to 'dashing' before. Please make sure that the environment does not mix paths from different distributions.
Now do the build
eepp@hood:turtlebot3_ws$ colcon build --symlink-install
Starting >>> turtlebot3_msgs
Starting >>> turtlebot3_description
Starting >>> dynamixel_sdk
Starting >>> hls_lfcd_lds_driver
Finished <<< turtlebot3_description [7.35s]
Starting >>> turtlebot3_cartographer
Finished <<< dynamixel_sdk [9.06s]
Starting >>> turtlebot3_navigation2
Finished <<< turtlebot3_cartographer [6.49s]
Starting >>> turtlebot3_teleop
Finished <<< turtlebot3_teleop [6.22s]
Starting >>> turtlebot3_gazebo
Finished <<< turtlebot3_navigation2 [11.2s]
Finished <<< hls_lfcd_lds_driver [20.7s]
Finished <<< turtlebot3_gazebo [8.06s]
Finished <<< turtlebot3_msgs [35.3s]
Starting >>> turtlebot3_node
Starting >>> turtlebot3_fake_node
finished <<< turtlebot3_fake_node [23.2s]
Starting >>> turtlebot3_simulations
Finished <<< turtlebot3_simulations [5.32s]
Finished <<< turtlebot3_node [35.4s]
Starting >>> turtlebot3_bringup
Finished <<< turtlebot3_bringup [3.08s]
Starting >>> turtlebot3
Finished <<< turtlebot3 [3.01s]
Summary: 13 packages finished [1min 17s]
