Latest revision as of 15:19, 28 June 2021

References

• Robotis Turtlebot3 e_Manual - Quick Start Guide - 3.1 PC Setup Foxy version selected at top.

3.1.1 Download and Install Ubuntu on PC

Ubuntu 20.04 has already been installed. See one of the following for either the PC laptop (Sisters) or Intel NUC (Hood).

• Sisters_Upgrade_to_Ubuntu_20.04_202102
• Hood_Upgrade_to_Ubuntu_20.04_20210311

3.1.2 Install ROS 2

 $ sudo apt update
       ...

 $ sudo apt upgrade
       ...

 $ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros2_foxy.sh

 $ chmod 755 ./install_ros2_foxy.sh

 $ bash ./install_ros2_foxy.sh
       ...

3.1.3 Install Dependent ROS 2 Packages

2 Install Colcon

 $ sudo apt install python3-colcon-common-extensions
       Reading package lists... Done
       Building dependency tree   
       ...    

3 Install Gazebo11

 $ sudo apt install ros-foxy-gazebo-ros-pkgs
       Reading package lists... Done
       Building dependency tree 
       ...

4 Install Cartographer

 $ sudo apt install ros-foxy-cartographer
       Reading package lists... Done
       Building dependency tree     
       ...

 $ sudo apt install ros-foxy-cartographer-ros
       Reading package lists... Done
       Building dependency tree   
       ...

5 Install Navigation2

 $ sudo apt install ros-foxy-navigation2
       Reading package lists... Done
       Building dependency tree  
       ...

 $ sudo apt install ros-foxy-nav2-bringup
       Reading package lists... Done
       Building dependency tree
       ...

6 Install vcstool

 $ sudo apt install python3-vcstool
       Reading package lists... Done
       Building dependency tree      
       ...

7 Install Laser Distance Sensor Driver

This did not appear in the Burger install for the Remote PC (Sisters) because the Laser Distance driver is handled by the Raspberry Pi (Single Board Computer (SBC)). We must do it here because it will be handled on the NUC (Hood).

 $ sudo apt install ros-foxy-hls-lfcd-lds-driver
       Reading package lists... Done
       Building dependency tree   
       ...

3.1.4 Install TurtleBot3 Packages - Binary Install

We should be able to replace the following source install with this binary install. This install was done using binaries.

 $ sudo apt install ros-foxy-dynamixel-sdk

 $ sudo apt install ros-foxy-turtlebot3-msgs

 $ sudo apt install ros-foxy-turtlebot3

3.1.4 Install TurtleBot3 Packages - Source Install

 $ sudo apt-get install ros-foxy-dynamixel-sdk*
       Reading package lists... Done
       Building dependency tree       
       ...

 $ sudo apt remove ros-foxy-turtlebot3-msgs
       Reading package lists... Done
       Building dependency tree   
       ...
 
 $ sudo apt remove ros-foxy-turtlebot3
       Reading package lists... Done
       Building dependency tree  
       ...     

 $ mkdir -p ~/turtlebot3_ws/src
 
 $ cd ~/turtlebot3_ws/src/ 

 $ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
       Cloning into 'turtlebot3_msgs'...
       remote: Enumerating objects: 19, done.
       remote: Counting objects: 100% (19/19), done.
       remote: Compressing objects: 100% (13/13), done.
       remote: Total 261 (delta 3), reused 12 (delta 2), pack-reused 242
       Receiving objects: 100% (261/261), 74.79 KiB | 2.99 MiB/s, done.
       Resolving deltas: 100% (104/104), done.

 $ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
       Cloning into 'turtlebot3'...
       remote: Enumerating objects: 23, done.
       remote: Counting objects: 100% (23/23), done.
       remote: Compressing objects: 100% (15/15), done.
       remote: Total 5464 (delta 6), reused 15 (delta 2), pack-reused 5441
       Receiving objects: 100% (5464/5464), 119.74 MiB | 8.50 MiB/s, done.
       Resolving deltas: 100% (3419/3419), done.

 $ pwd
       /home/eepp/turtlebot3_ws/src

$ cd ..
 
 $ colcon build --symlink-install
       Starting >>> turtlebot3_msgs
       Starting >>> turtlebot3_description
       Starting >>> turtlebot3_cartographer
       Starting >>> turtlebot3_navigation2
       Finished <<< turtlebot3_description [0.52s]                             
       Starting >>> turtlebot3_teleop
       Finished <<< turtlebot3_cartographer [0.55s]
       Finished <<< turtlebot3_navigation2 [0.97s]                              
       Finished <<< turtlebot3_msgs [1.57s]                                     
       Starting >>> turtlebot3_node
       Starting >>> turtlebot3_example
       Finished <<< turtlebot3_teleop [1.57s]                          
       Finished <<< turtlebot3_example [1.11s]                             
       [Processing: turtlebot3_node]                             
       Finished <<< turtlebot3_node [34.3s]                       
       Starting >>> turtlebot3_bringup
       Finished <<< turtlebot3_bringup [1.35s]                   
       Starting >>> turtlebot3
       Finished <<< turtlebot3 [1.32s]                   

       Summary: 9 packages finished [38.8s]

3.1.5 Environment Configuration

 $ echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc

 $ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc

Add this to end of .bashrc

 $ export TURTLEBOT3_MODEL=burger

 $ source ~/.bashrc

Notes and Logs

Foxy Install Hood 20210311 Notes and Logs