Difference between revisions of "Turtlebot3 Waffle Joule ROS 1 Kinetic"
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* [[Turtlebot3 Setup]] | * [[Turtlebot3 Setup]] | ||
* [[OpenCR Setup]] | * [[OpenCR Setup]] | ||
| + | * [[TurtleBox3 Access Point]] | ||
= Bringup = | = Bringup = | ||
Revision as of 08:37, 12 May 2018
Contents
References
Setup
Bringup
sudo apt-get install openssh-server - required for Fetch and ssh on Mac
bringup remote
roslaunch trutlebot3_bringup turtlebot3_remote.launch on dell
turtlebot3_lidar.lauch on turtlebot
rosrun rviz .... on dell
roslaunch turtlebot3_teleop turtlebote_teleop_key.launch on dell
teleop ran but didn't work
uptime ... 2.60, 2.59, 2.10
Keyboard Teleop
Success
remote
roscore roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
turtlebot
roslaunch turtlebot3_bringup turtlebot3_core.launch
Joystick Teleop
reference
Joystick install and test
in VirtualBox for Dual Action ... under devices USM - checked it while it was plugged in.
it became /dev/input/js2 - tested by plugging in and out
now
lsusb Bus 001 Device 004: ID 046d:c216 Logitech, Inc. Dual Action Gamepad Bus 001 Device 002: ID 80ee:0021 VirtualBox USB Tablet Bus 001 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
this is now working
jstest /dev/input/js2 Driver version is 2.1.0. Joystick (Logitech Logitech Dual Action) has 6 axes (X, Y, Z, Rz, Hat0X, Hat0Y) and 12 buttons (Trigger, ThumbBtn, ThumbBtn2, TopBtn, TopBtn2, PinkieBtn, BaseBtn, BaseBtn2, BaseBtn3, BaseBtn4, BaseBtn5, BaseBtn6). Testing ... (interrupt to exit) Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 Buttons: 0:ofAxes: 0: 0 1: 0
ll /dev/input/js2 crw-rw-r--+ 1 root input 13, 2 Feb 9 16:45 /dev/input/js2 sudo chmod 666 /dev/input/js2 ll /dev/input/js2 crw-rw-rw-+ 1 root input 13, 2 Feb 9 16:45 /dev/input/js2
test
Terminal 1
rosparam set joy_node/dev "/dev/input/js2" rosrun joy joy_node
Termina 2
rostopic echo joy
run
remote - after configuration below this works
Terminal 1
sudo apt-get install xboxdrv ros-kinetic-joy ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-joy roscore
Terminal 2
roslaunch teleop_twist_joy teleop.launch
Teminal 3 test
rostopic echo cmd_vel
turtlebot bringup
roslaunch turtlebot3_bringup turtlebot3_core.launch
config
roscd teleop_twist_joy/launch diff teleop.launch teleop.launch.org 3c3 < <arg name="joy_dev" default="/dev/input/js2" /> --- > <arg name="joy_dev" default="/dev/input/js0" />
Today it was js1 and other changes
diff teleop.launch teleop.launch.org 2,3c2,3 < <arg name="joy_config" default="logitech" /> < <arg name="joy_dev" default="/dev/input/js1" /> --- > <arg name="joy_config" default="ps3" /> > <arg name="joy_dev" default="/dev/input/js0" />
For Logitech G-UF13A Dual Action
cat ../config/logitech.config.yaml axis_linear: 1 # Left thumb stick vertical scale_linear: 0.7 scale_linear_turbo: 1.5 axis_angular: 0 # Left thumb stick horizontal scale_angular: 0.4 enable_button: 8 # L2 shoulder button enable_turbo_button: 10 # L1 shoulder button
SLAM
remote
terminal 1
roscore
turtlebot
terminal 1
roslaunch turtlebot3_bringup turtlebot3_core.launch
terminal 2
roslaunch turtlebot3_bringup turtlebot3_lidar.launch
remote
terminal 2
roslaunch teleop_twist_joy teleop.launch
terminal 3
export TURTLEBOT3_MODEL=waffle roslaunch turtlebot3_slam turtlebot3_slam.launch
terminal 4
rosrun rviz rviz -d `rospack find turtlebot3_slam`/rviz/turtlebot3_slam.rviz
terminal 5
rosrun map_server map_saver -f ~/map
turtle - just like above
remote
terminal 2
export TURTLEBOT3_MODEL=waffle roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map2.yaml
terminal 3
rosrun rviz rviz -d `rospack find turtlebot3_navigation`/rviz/rtlebot3_nav.rviz
Real Sense
See 24 Appendix #RealSense
353 sudo apt-get install linux-headers-generic 354 sudo apt-get install ros-kinetic-librealsense 355 cd catkin_ws/src 356 cd ~/catkin_ws/src 357 git clone https://github.com/intel-ros/realsense.git 358 ls 359 cd realsense 360 git checkout 1.8.0 361 cd ../.. 362 catkin_make -j2
Run RealSense node
roslaunch realsense_camera r200_nodelet_default.launch
ROS_MASTER_URI=http://10.0.0.157:11311 process[camera/nodelet_manager-1]: started with pid [3347] process[camera/driver-2]: started with pid [3348] [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.. [FATAL] [1520401984.451311263]: Failed to load nodelet '/camera/driver` of type `realsense_camera/R200Nodelet` to manager `nodelet_manager' [ INFO] [1520401984.490259260]: Initializing nodelet with 4 worker threads. [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]. log file: /home/eepp/.ros/log/64429cee-21c2-11e8-ad62-080027c0cb1e/camera-driver-2*.log ^C[camera/nodelet_manager-1] killing on exit
* gmapping skipping xml
Joule stalls
Project Lauch
sisters
cd catkin_ws/src/ catkin_create_pkg host
box
cd catkin_ws/src/ catkin_create_pkg client
Question: should I run?
. catkin_ws_indigo/devel/setup.bash
Checksum Errors
Joule Stall After 30 minutes
Movidius
References
Install
mkdir -p ~/workspace cd ~/workspace git clone https://github.com/movidius/ncsdk.git ls cd ~/workspace/ncsdk ls make install ... Successfully installed mvnc-1.12.0.1 You are using pip version 8.1.1, however version 9.0.1 is available. You should consider upgrading via the 'pip install --upgrade pip' command. NCS Libraries have been installed in /usr/local/lib NCS Toolkit binaries have been installed in /usr/local/bin NCS Include files have been installed in /usr/local/include NCS Python API has been installed in /opt/movidius, and PYTHONPATH environment variable updated Updating udev rules... Adding user 'eepp' to 'users' group Setup is complete. The PYTHONPATH enviroment variable was added to your .bashrc as described in the Caffe documentation. Keep in mind that only newly spawned terminals can see this variable! This means that you need to open a new terminal in order to be able to use the NCSDK. Please provide feedback in our support forum if you encountered difficulties.
Investigating Movidus NCS USB Connection
lsusb Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub Bus 001 Device 003: ID 03e7:2150 Bus 001 Device 002: ID 80ee:0021 VirtualBox USB Tablet Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
The 03e7 is it
lsusb -v -s 1:3
Bus 001 Device 003: ID 03e7:2150
...
idVendor 0x03e7
idProduct 0x2150
bcdDevice 0.01
iManufacturer 1 Movidius Ltd.
iProduct 2 Movidius MA2X5X
...
Build Examples
Problem One
cd ~/workspace/ncsdk
make examples
...
[Error 7] Toolkit Error: USB Failure. Code: No devices found
Fix One
- Macke Examples Error - followed Tome_at_Intel February 8 instructions
cd ncsdk/ make uninstall cd .. rm -rf ncsdk/ git clone https://github.com/movidius/ncsdk cd ncsdk/
Problem Two
making run
....
./run.py
Traceback (most recent call last):
File "./run.py", line 22, in <module>
import cv2
ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so: undefined symbol: PyCObject_Type
Makefile:91: recipe for target 'run' failed
make: *** [run] Error 1
Fix Two
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
sudo mv cv2.so cv2_renamed.so
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.
I entered make run again.
Problem Three
make run
...
Performing bulk write of 865724 bytes...
Successfully sent 865724 bytes of data in 236.494626 ms (3.491068 MB/s)
Boot successful, device address 2
Traceback (most recent call last):
File "./run.py", line 58, in <module>
device.OpenDevice()
File "/usr/local/lib/python3.5/dist-packages/mvnc/mvncapi.py", line 147, in OpenDevice
raise Exception(Status(status))
Exception: mvncStatus.ERROR
Makefile:91: recipe for target 'run' failed
make: *** [run] Error 1
lsusb confirms that the Vovidius NCS is not connected
Stalled
Reported at Compatibility of Movidius ncsdk with ROS. Not sure how to approach this. Going to focus here next.
