Difference between revisions of "Turtlebot3 Burger SLAM 20210118"
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* [[Turtlebot3 Burger ROS 2 Dashing SLAM 20210118 b Note and Log]] | * [[Turtlebot3 Burger ROS 2 Dashing SLAM 20210118 b Note and Log]] | ||
* [[Turtlebot3 Burger ROS 2 Dashing SLAM 20210118 c Notes and Log]] | * [[Turtlebot3 Burger ROS 2 Dashing SLAM 20210118 c Notes and Log]] | ||
| + | |||
| + | = Bring up Mapping = | ||
| + | |||
| + | |||
| + | '''TERMINAL 1''' on Sisters (Remote PC) | ||
| + | |||
| + | |||
| + | ssh to SBC (RPi) | ||
| + | |||
| + | <pre> | ||
| + | $ ros2 launch turtlebot3_bringup robot.launch.py | ||
| + | [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2021-01-18-19-42-34-371238-ubuntu-5529 | ||
| + | [INFO] [launch]: Default logging verbosity is set to INFO | ||
| + | urdf_file_name : turtlebot3_burger.urdf | ||
| + | [INFO] [robot_state_publisher-1]: process started with pid [5540] | ||
| + | [INFO] [hlds_laser_publisher-2]: process started with pid [5541] | ||
| + | [INFO] [turtlebot3_ros-3]: process started with pid [5542] | ||
| + | [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 5541, exit code 255, cmd '/opt/ros/dashing/lib/hls_lfcd_lds_driver/hlds_laser_publisher __node:=hlds_laser_publisher __params:=/tmp/launch_params__auv4bis']. | ||
| + | [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> | ||
Revision as of 14:25, 1 February 2021
References
Robotis Turtlebot3 eManual SLAM
Notes and Logs
- Turtlebot3 Burger ROS 2 Dashing SLAM 20210118 b Note and Log
- Turtlebot3 Burger ROS 2 Dashing SLAM 20210118 c Notes and Log
Bring up Mapping
TERMINAL 1 on Sisters (Remote PC)
ssh to SBC (RPi)
$ ros2 launch turtlebot3_bringup robot.launch.py [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2021-01-18-19-42-34-371238-ubuntu-5529 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_burger.urdf [INFO] [robot_state_publisher-1]: process started with pid [5540] [INFO] [hlds_laser_publisher-2]: process started with pid [5541] [INFO] [turtlebot3_ros-3]: process started with pid [5542] [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 5541, exit code 255, cmd '/opt/ros/dashing/lib/hls_lfcd_lds_driver/hlds_laser_publisher __node:=hlds_laser_publisher __params:=/tmp/launch_params__auv4bis']. [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!
