Difference between revisions of "Turtlebot3 Burger SBC Foxy Bringup Processes 20210303"
| Line 37: | Line 37: | ||
A set of parameters passed to the turtlebot3_node extablish, for example, physical characteristics of the Burger (wheel diameters and separation) and link the URDF frames to odometry. The parameter files is located here on the SBC: | A set of parameters passed to the turtlebot3_node extablish, for example, physical characteristics of the Burger (wheel diameters and separation) and link the URDF frames to odometry. The parameter files is located here on the SBC: | ||
~/turtlebot3_ws/install/turtlebot3_bringup/share/turtlebot3_bringup/param/burger.yaml | ~/turtlebot3_ws/install/turtlebot3_bringup/share/turtlebot3_bringup/param/burger.yaml | ||
| − | The file is copied here: | + | The file is copied here: [[Turblebot3 Burger Foxy Turtlebot3_node Parmaters 20210303]] |
| + | |||
| + | Note this declaration targeted at the diff_drive_controller which links the "odom" parent frame to its child "base_footprint". This is critical so odometry information can be mapped to the location of the laser scanner. See | ||
| + | |||
| + | diff_drive_controller: | ||
| + | ros__parameters: | ||
| + | |||
| + | odometry: | ||
| + | publish_tf: true | ||
| + | use_imu: true | ||
| + | frame_id: "odom" | ||
| + | child_frame_id: "base_footprint" | ||
| − | |||
= Notes and Logs = | = Notes and Logs = | ||
Revision as of 11:39, 4 March 2021
Contents
Process Running on the RPi
The ROS2 nodes created by bringup on the SBC (RPi). This is the rqt_graph representation
The processes created in the RPi. These are the execute commands.
ps -au
/usr/bin/python3 /opt/ros/foxy/bin/ros2 launch turtlebot3_bringup robot.launch.py
/opt/ros/foxy/lib/robot_state_publisher/robot_state_publisher
/home/ubuntu/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
--ros-args -r __node:=robot_state_publisher
--params-file /tmp/launch_params_a7lmxzoy
/opt/ros/foxy/lib/hls_lfcd_lds_driver/hlds_laser_publisher
--ros-args -r __node:=hlds_laser_publisher -r __node:=hlds_laser_publisher
--params-file /tmp/launch_params_b55p9bi2
/home/ubuntu/turtlebot3_ws/install/turtlebot3_node/lib/turtlebot3_node/turtlebot3_ros -i /dev/ttyACM0
--ros-args
--params-file /home/ubuntu/turtlebot3_ws/install/turtlebot3_bringup/share/turtlebot3_bringup/param/burger.yaml
Burger URDF
This is a graphical representation of the Burger URDF. The URDF is one of the parameters of the robot_state_publisher above located at:
~/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
$ urdf_to_graphiz turtlebot3_burger.urdf
Created file turtlebot3_burger.gv
Created file turtlebot3_burger.pdf
This is the resulting turtlebot3_burger.pdf graph.
System Integration Parameters
A set of parameters passed to the turtlebot3_node extablish, for example, physical characteristics of the Burger (wheel diameters and separation) and link the URDF frames to odometry. The parameter files is located here on the SBC:
~/turtlebot3_ws/install/turtlebot3_bringup/share/turtlebot3_bringup/param/burger.yaml
The file is copied here: Turblebot3 Burger Foxy Turtlebot3_node Parmaters 20210303
Note this declaration targeted at the diff_drive_controller which links the "odom" parent frame to its child "base_footprint". This is critical so odometry information can be mapped to the location of the laser scanner. See
diff_drive_controller:
ros__parameters:
odometry:
publish_tf: true
use_imu: true
frame_id: "odom"
child_frame_id: "base_footprint"
