Difference between revisions of "Turtlebot3 Burger Basic Operations 20210115"

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= References =
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[https://emanual.robotis.com/docs/en/platform/turtlebot3/basic_operation/#basic-operation Robotis Turtlebot3 eManual Basic operation]
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= KeyBoard =
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'''Terminal 1''' Do a Bringup on the Turtlebot3 SBC
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[[Turtlebot3 Burger Bringup 29210115]]
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'''Terminal 2''' Run keyboard teleop
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<pre>
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  $ ros2 run turtlebot3_teleop teleop_keyboard
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Control Your TurtleBot3!
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---------------------------
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Moving around:
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        w
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  a    s    d
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        x
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w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
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a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)
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space key, s : force stop
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CTRL-C to quit
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...
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...
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</pre>
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= RC-100 =
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== References ==
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* [https://emanual.robotis.com/docs/en/platform/turtlebot3/basic_operation/#basic-operation Robotis Turtlebot3 eManual Basic operation] RC100 Section 3.6.1.2
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* [https://emanual.robotis.com/docs/en/parts/communication/rc-100/ RC-100 eManual]
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== Components ==
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The RC-100 teleop solution consists of these components. [https://www.robotis.us/communication/ Robotis Communication]
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* RC-100B Remote Controller
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* BT-410 Set Bluetooth
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** Master mounts on the RC-100B
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** slave connects to the OpenCR. See UART connection below.
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== Setup ==
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"When using RC-100, it is not necessary to execute a specific node because turtlebot_core node creates a /cmd_vel topic in the firmware directly connected to OpeCR."
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In other words, just connect the slave to the OpenCR and without bringing up any software on the SBC you can teleop the Turtlebot3.
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== Connection ==
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[[File:RC100ToOpenCR.jpeg | 250px]][[File:OpenCRLayout.jpg | 500px]]
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= Notes and Logs =
 
= Notes and Logs =
  
 
* [[Turtlebot3 Burger ROS 2 Dashing Basic Operations 20210115 Note and Log]]
 
* [[Turtlebot3 Burger ROS 2 Dashing Basic Operations 20210115 Note and Log]]

Latest revision as of 16:39, 30 January 2021

References

Robotis Turtlebot3 eManual Basic operation

KeyBoard

Terminal 1 Do a Bringup on the Turtlebot3 SBC

Turtlebot3 Burger Bringup 29210115

Terminal 2 Run keyboard teleop 

  $ ros2 run turtlebot3_teleop teleop_keyboard

Control Your TurtleBot3!
---------------------------
Moving around:
        w
   a    s    d
        x

w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)

space key, s : force stop

CTRL-C to quit
...
...

RC-100

References

Components

The RC-100 teleop solution consists of these components. Robotis Communication

  • RC-100B Remote Controller
  • BT-410 Set Bluetooth
    • Master mounts on the RC-100B
    • slave connects to the OpenCR. See UART connection below.

Setup

"When using RC-100, it is not necessary to execute a specific node because turtlebot_core node creates a /cmd_vel topic in the firmware directly connected to OpeCR." In other words, just connect the slave to the OpenCR and without bringing up any software on the SBC you can teleop the Turtlebot3.

Connection

RC100ToOpenCR.jpegOpenCRLayout.jpg

Notes and Logs

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