Difference between revisions of "Turtlebot3 Burger Bringup 29210115"

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[https://emanual.robotis.com/docs/en/platform/turtlebot3/bringup/#bringup Robotis Turtlebot3 eManual bringup]
 
[https://emanual.robotis.com/docs/en/platform/turtlebot3/bringup/#bringup Robotis Turtlebot3 eManual bringup]
−
* Section 3.3 OpenCr Setup
+
 
 +
= Bringup Turtlebot3 Burger =
 +
 
 +
ssh to the Turtlebot
 +
 
 +
<pre>
 +
eepp@sisters:~$ ssh ubuntu@10.0.0.186
 +
ubuntu@10.0.0.186's password:
 +
Welcome to Ubuntu 18.04.5 LTS (GNU/Linux 4.15.0-1077-raspi2 aarch64)
 +
 
 +
* Documentation:  https://help.ubuntu.com
 +
* Management:    https://landscape.canonical.com
 +
* Support:        https://ubuntu.com/advantage
 +
 
 +
  System information as of Fri Jan 15 20:36:03 UTC 2021
 +
 
 +
  System load:  0.29              Processes:          116
 +
  Usage of /:  36.0% of 14.33GB  Users logged in:    1
 +
  Memory usage: 23%                IP address for eth0: 10.0.0.186
 +
  Swap usage:  0%
 +
 
 +
* Introducing self-healing high availability clusters in MicroK8s.
 +
  Simple, hardened, Kubernetes for production, from RaspberryPi to DC.
 +
 
 +
    https://microk8s.io/high-availability
 +
 
 +
3 packages can be updated.
 +
2 of these updates are security updates.
 +
To see these additional updates run: apt list --upgradable
 +
 
 +
New release '20.04.1 LTS' available.
 +
Run 'do-release-upgrade' to upgrade to it.
 +
 
 +
 
 +
Last login: Fri Jan 15 20:28:30 2021 from 10.0.0.159
 +
 
 +
 
 +
ubuntu@ubuntu:~$
 +
</pre>
 +
 
 +
Define the environment. These eventually end up in the .bashrc.
 +
 
 +
  $ export TURTLEBOT3_MODEL=burger
 +
 
 +
Start up the Burger.
 +
 
 +
<pre>
 +
$ ros2 launch turtlebot3_bringup robot.launch.py
 +
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2021-01-15-20-33-17-678050-ubuntu-5580
 +
[INFO] [launch]: Default logging verbosity is set to INFO
 +
urdf_file_name : turtlebot3_burger.urdf
 +
[INFO] [robot_state_publisher-1]: process started with pid [5590]
 +
[INFO] [hlds_laser_publisher-2]: process started with pid [5591]
 +
[INFO] [turtlebot3_ros-3]: process started with pid [5592]
 +
[robot_state_publisher-1] Initialize urdf model from file: /home/ubuntu/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
 +
[robot_state_publisher-1] Parsing robot urdf xml string.
 +
[robot_state_publisher-1] Link base_link had 5 children
 +
[robot_state_publisher-1] Link caster_back_link had 0 children
 +
[robot_state_publisher-1] Link imu_link had 0 children
 +
[robot_state_publisher-1] Link base_scan had 0 children
 +
[robot_state_publisher-1] Link wheel_left_link had 0 children
 +
[robot_state_publisher-1] Link wheel_right_link had 0 children
 +
[robot_state_publisher-1] got segment base_footprint
 +
[robot_state_publisher-1] got segment base_link
 +
[robot_state_publisher-1] got segment base_scan
 +
[robot_state_publisher-1] got segment caster_back_link
 +
[robot_state_publisher-1] got segment imu_link
 +
[robot_state_publisher-1] got segment wheel_left_link
 +
[robot_state_publisher-1] got segment wheel_right_link
 +
[hlds_laser_publisher-2] [INFO] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main
 +
[hlds_laser_publisher-2] [INFO] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan
 +
[ERROR] [hlds_laser_publisher-2]: process has died [pid 5591, exit code 255, cmd '/opt/ros/dashing/lib/hls_lfcd_lds_driver/hlds_laser_publisher __node:=hlds_laser_publisher __params:=/tmp/launch_params_xe0b2_3z'].
 +
[robot_state_publisher-1] Adding fixed segment from base_footprint to base_link
 +
[robot_state_publisher-1] Adding fixed segment from base_link to caster_back_link
 +
[robot_state_publisher-1] Adding fixed segment from base_link to imu_link
 +
[robot_state_publisher-1] Adding fixed segment from base_link to base_scan
 +
[robot_state_publisher-1] Adding moving segment from base_link to wheel_left_link
 +
[robot_state_publisher-1] Adding moving segment from base_link to wheel_right_link
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper
 +
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
 +
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate!
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Start Calibration of Gyro
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Calibration End
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Motors
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Wheels
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Sensors
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create battery state publisher
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create imu publisher
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sensor state publisher
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create joint state publisher
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Devices
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create motor power server
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create reset server
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sound server
 +
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Run!
 +
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Init Odometry
 +
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Run!
 +
</pre>
 +
 
 +
'''Error''': I must have had the LIDAR unplugged. There was no problem with the device
 +
 
 +
= Sanity Test=
 +
Topics List
 +
 
 +
<pre>
 +
ubuntu@ubuntu:~$ ros2 topic list
 +
/battery_state
 +
/cmd_vel
 +
/imu
 +
/joint_states
 +
/magnetic_field
 +
/odom
 +
/parameter_events
 +
/robot_description
 +
/rosout
 +
/sensor_state
 +
/tf
 +
/tf_static
 +
</pre>
 +
 
 +
Service List
 +
 
 +
<pre>
 +
ubuntu@ubuntu:~$ ros2 service list
 +
/diff_drive_controller/describe_parameters
 +
/diff_drive_controller/get_parameter_types
 +
/diff_drive_controller/get_parameters
 +
/diff_drive_controller/list_parameters
 +
/diff_drive_controller/set_parameters
 +
/diff_drive_controller/set_parameters_atomically
 +
/launch_ros/describe_parameters
 +
/launch_ros/get_parameter_types
 +
/launch_ros/get_parameters
 +
/launch_ros/list_parameters
 +
/launch_ros/set_parameters
 +
/launch_ros/set_parameters_atomically
 +
/motor_power
 +
/reset
 +
/robot_state_publisher/describe_parameters
 +
/robot_state_publisher/get_parameter_types
 +
/robot_state_publisher/get_parameters
 +
/robot_state_publisher/list_parameters
 +
/robot_state_publisher/set_parameters
 +
/robot_state_publisher/set_parameters_atomically
 +
/sound
 +
/turtlebot3_node/describe_parameters
 +
/turtlebot3_node/get_parameter_types
 +
/turtlebot3_node/get_parameters
 +
/turtlebot3_node/list_parameters
 +
/turtlebot3_node/set_parameters
 +
/turtlebot3_node/set_parameters_atomically
 +
</pre>
 +
 
 +
= RViz =
 +
 
 +
'''TBD''': Experiment with RViz
  
 
= Notes and Logs =
 
= Notes and Logs =
  
 
* [[Turtlebot3 Turtlebot3 Burger ROS 2 Dashing 20210115 Note and Log]]
 
* [[Turtlebot3 Turtlebot3 Burger ROS 2 Dashing 20210115 Note and Log]]

Latest revision as of 18:23, 29 January 2021

References

Robotis Turtlebot3 eManual bringup

Bringup Turtlebot3 Burger

ssh to the Turtlebot 

eepp@sisters:~$ ssh ubuntu@10.0.0.186
ubuntu@10.0.0.186's password: 
Welcome to Ubuntu 18.04.5 LTS (GNU/Linux 4.15.0-1077-raspi2 aarch64)

 * Documentation:  https://help.ubuntu.com
 * Management:     https://landscape.canonical.com
 * Support:        https://ubuntu.com/advantage

  System information as of Fri Jan 15 20:36:03 UTC 2021

  System load:  0.29               Processes:           116
  Usage of /:   36.0% of 14.33GB   Users logged in:     1
  Memory usage: 23%                IP address for eth0: 10.0.0.186
  Swap usage:   0%

 * Introducing self-healing high availability clusters in MicroK8s.
   Simple, hardened, Kubernetes for production, from RaspberryPi to DC.

     https://microk8s.io/high-availability

3 packages can be updated.
2 of these updates are security updates.
To see these additional updates run: apt list --upgradable

New release '20.04.1 LTS' available.
Run 'do-release-upgrade' to upgrade to it.


Last login: Fri Jan 15 20:28:30 2021 from 10.0.0.159


ubuntu@ubuntu:~$

Define the environment. These eventually end up in the .bashrc. 

 $ export TURTLEBOT3_MODEL=burger

Start up the Burger. 

$ ros2 launch turtlebot3_bringup robot.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2021-01-15-20-33-17-678050-ubuntu-5580
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_burger.urdf
[INFO] [robot_state_publisher-1]: process started with pid [5590]
[INFO] [hlds_laser_publisher-2]: process started with pid [5591]
[INFO] [turtlebot3_ros-3]: process started with pid [5592]
[robot_state_publisher-1] Initialize urdf model from file: /home/ubuntu/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_link had 5 children
[robot_state_publisher-1] Link caster_back_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link base_scan had 0 children
[robot_state_publisher-1] Link wheel_left_link had 0 children
[robot_state_publisher-1] Link wheel_right_link had 0 children
[robot_state_publisher-1] got segment base_footprint
[robot_state_publisher-1] got segment base_link
[robot_state_publisher-1] got segment base_scan
[robot_state_publisher-1] got segment caster_back_link
[robot_state_publisher-1] got segment imu_link
[robot_state_publisher-1] got segment wheel_left_link
[robot_state_publisher-1] got segment wheel_right_link
[hlds_laser_publisher-2] [INFO] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main
[hlds_laser_publisher-2] [INFO] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan
[ERROR] [hlds_laser_publisher-2]: process has died [pid 5591, exit code 255, cmd '/opt/ros/dashing/lib/hls_lfcd_lds_driver/hlds_laser_publisher __node:=hlds_laser_publisher __params:=/tmp/launch_params_xe0b2_3z'].
[robot_state_publisher-1] Adding fixed segment from base_footprint to base_link
[robot_state_publisher-1] Adding fixed segment from base_link to caster_back_link
[robot_state_publisher-1] Adding fixed segment from base_link to imu_link
[robot_state_publisher-1] Adding fixed segment from base_link to base_scan
[robot_state_publisher-1] Adding moving segment from base_link to wheel_left_link
[robot_state_publisher-1] Adding moving segment from base_link to wheel_right_link
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate!
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Start Calibration of Gyro
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Calibration End
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Motors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Wheels
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Sensors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create battery state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create imu publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sensor state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create joint state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Devices
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create motor power server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create reset server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sound server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Run!
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Init Odometry
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Run!

Error: I must have had the LIDAR unplugged. There was no problem with the device

Sanity Test

Topics List 

ubuntu@ubuntu:~$ ros2 topic list
/battery_state
/cmd_vel
/imu
/joint_states
/magnetic_field
/odom
/parameter_events
/robot_description
/rosout
/sensor_state
/tf
/tf_static

Service List 

ubuntu@ubuntu:~$ ros2 service list
/diff_drive_controller/describe_parameters
/diff_drive_controller/get_parameter_types
/diff_drive_controller/get_parameters
/diff_drive_controller/list_parameters
/diff_drive_controller/set_parameters
/diff_drive_controller/set_parameters_atomically
/launch_ros/describe_parameters
/launch_ros/get_parameter_types
/launch_ros/get_parameters
/launch_ros/list_parameters
/launch_ros/set_parameters
/launch_ros/set_parameters_atomically
/motor_power
/reset
/robot_state_publisher/describe_parameters
/robot_state_publisher/get_parameter_types
/robot_state_publisher/get_parameters
/robot_state_publisher/list_parameters
/robot_state_publisher/set_parameters
/robot_state_publisher/set_parameters_atomically
/sound
/turtlebot3_node/describe_parameters
/turtlebot3_node/get_parameter_types
/turtlebot3_node/get_parameters
/turtlebot3_node/list_parameters
/turtlebot3_node/set_parameters
/turtlebot3_node/set_parameters_atomically

RViz

TBD: Experiment with RViz

Notes and Logs

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