Difference between revisions of "Turtlebot3 Waffle NUC Humble NUC 20240422"
From wikidb
m (Edc moved page Turtlebot 3 Waffle NUC Humble NUC 20240422 to Turtlebot3 Waffle NUC Humble NUC 20240422) |
(→Reforences) |
||
| Line 1: | Line 1: | ||
| − | = | + | = References = |
== Robotis == | == Robotis == | ||
* [https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/ TB3 eManual Quick Start] | * [https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/ TB3 eManual Quick Start] | ||
| − | |||
= Install Ubuntu on NUC = | = Install Ubuntu on NUC = | ||
Revision as of 09:53, 16 May 2024
References
Robotis
Install Ubuntu on NUC
- New NUC11PAHi5
- Linux 22.04
On Hood - NUC
download Linux
- Link from above
- 22.04.4 LTS
- rw------- 1 eepp eepp 629882880 Apr 16 13:57 ubuntu-22.a5doQ9x1.04.4-desktop-amd64.iso.part
ERROR
eepp@sisters:~$ sudo apt-get install MultiWriter
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package MultiWriter
eepp@sisters:~$
eepp@hood:~$ sudo apt install gnome-multi-writer Reading package lists... Done Building dependency tree Reading state information... Done The following NEW packages will be installed: gnome-multi-writer 0 upgraded, 1 newly installed, 0 to remove and 594 not upgraded. Need to get 135 kB of archives. After this operation, 572 kB of additional disk space will be used. Get:1 http://us.archive.ubuntu.com/ubuntu focal/universe amd64 gnome-multi-writer amd64 3.32.1-1 [135 kB] Fetched 135 kB in 1s (255 kB/s) Selecting previously unselected package gnome-multi-writer. (Reading database ... 291963 files and directories currently installed.) Preparing to unpack .../gnome-multi-writer_3.32.1-1_amd64.deb ... Unpacking gnome-multi-writer (3.32.1-1) ... Setting up gnome-multi-writer (3.32.1-1) ... Processing triggers for mime-support (3.64ubuntu1) ... Processing triggers for hicolor-icon-theme (0.17-2) ... Processing triggers for gnome-menus (3.36.0-1ubuntu1) ... Processing triggers for libglib2.0-0:amd64 (2.64.6-1~ubuntu20.04.6) ... Processing triggers for man-db (2.9.1-1) ... Processing triggers for desktop-file-utils (0.24-1ubuntu3) ... eepp@hood:~$
Copy to USB
- gnome-multi-writer &
On New NUC
Boot Ubuntu Installer
- F10 on boot
- Chose 4th time in the list with name xxx
Pick Ubuntu Install Options
- Mostly defaults
Install ROS 2.0 on adams
- SBC Setup
- * [https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup
- 12. Install ROS2 Humble Hawksbill
Set Locales
eepp@adams:~/notes$ locale LANG=en_US.UTF-8 LANGUAGE= LC_CTYPE="en_US.UTF-8" LC_NUMERIC="en_US.UTF-8" LC_TIME="en_US.UTF-8" LC_COLLATE="en_US.UTF-8" LC_MONETARY="en_US.UTF-8" LC_MESSAGES="en_US.UTF-8" LC_PAPER="en_US.UTF-8" LC_NAME="en_US.UTF-8" LC_ADDRESS="en_US.UTF-8" LC_TELEPHONE="en_US.UTF-8" LC_MEASUREMENT="en_US.UTF-8" LC_IDENTIFICATION="en_US.UTF-8" LC_ALL= eepp@adams:~/notes$
epp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ sudo apt update && sudo apt install locales Get:1 http://security.ubuntu.com/ubuntu jammy-security InRelease [110 kB] Hit:2 http://us.archive.ubuntu.com/ubuntu jammy InRelease Get:3 http://us.archive.ubuntu.com/ubuntu jammy-updates InRelease [119 kB] Hit:4 http://us.archive.ubuntu.com/ubuntu jammy-backports InRelease Get:5 http://us.archive.ubuntu.com/ubuntu jammy-updates/main i386 Packages [611 kB] Get:6 http://us.archive.ubuntu.com/ubuntu jammy-updates/main amd64 Packages [1,562 kB] Get:7 http://us.archive.ubuntu.com/ubuntu jammy-updates/universe amd64 Packages [1,075 kB] Get:8 http://us.archive.ubuntu.com/ubuntu jammy-updates/universe i386 Packages [699 kB] Fetched 4,176 kB in 2s (2,656 kB/s) Reading package lists... Done Building dependency tree... Done Reading state information... Done 5 packages can be upgraded. Run 'apt list --upgradable' to see them. Reading package lists... Done Building dependency tree... Done Reading state information... Done locales is already the newest version (2.35-0ubuntu3.6). locales set to manually installed. The following packages were automatically installed and are no longer required: libwpe-1.0-1 libwpebackend-fdo-1.0-1 Use 'sudo apt autoremove' to remove them. 0 upgraded, 0 newly installed, 0 to remove and 5 not upgraded. eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ sudo locale-gen en_US en_US.UTF-8 Generating locales (this might take a while)... en_US.ISO-8859-1... done en_US.UTF-8... done Generation complete. eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ export LANG=en_US.UTF-8 eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ locale LANG=en_US.UTF-8 LANGUAGE= LC_CTYPE="en_US.UTF-8" LC_NUMERIC="en_US.UTF-8" LC_TIME="en_US.UTF-8" LC_COLLATE="en_US.UTF-8" LC_MONETARY="en_US.UTF-8" LC_MESSAGES="en_US.UTF-8" LC_PAPER="en_US.UTF-8" LC_NAME="en_US.UTF-8" LC_ADDRESS="en_US.UTF-8" LC_TELEPHONE="en_US.UTF-8" LC_MEASUREMENT="en_US.UTF-8" LC_IDENTIFICATION="en_US.UTF-8" LC_ALL= eepp@adams:~/notes$
Setup Sources
eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ sudo apt install software-properties-common Reading package lists... Done Building dependency tree... Done Reading state information... Done software-properties-common is already the newest version (0.99.22.9). software-properties-common set to manually installed. The following packages were automatically installed and are no longer required: libwpe-1.0-1 libwpebackend-fdo-1.0-1 Use 'sudo apt autoremove' to remove them. 0 upgraded, 0 newly installed, 0 to remove and 5 not upgraded. eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ sudo add-apt-repository universe Adding component(s) 'universe' to all repositories. Press [ENTER] to continue or Ctrl-c to cancel. Hit:1 http://security.ubuntu.com/ubuntu jammy-security InRelease Hit:2 http://us.archive.ubuntu.com/ubuntu jammy InRelease Hit:3 http://us.archive.ubuntu.com/ubuntu jammy-updates InRelease Hit:4 http://us.archive.ubuntu.com/ubuntu jammy-backports InRelease Reading package lists... Done eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ sudo apt update && sudo apt install curl -y Hit:1 http://security.ubuntu.com/ubuntu jammy-security InRelease Hit:2 http://us.archive.ubuntu.com/ubuntu jammy InRelease Hit:3 http://us.archive.ubuntu.com/ubuntu jammy-updates InRelease Hit:4 http://us.archive.ubuntu.com/ubuntu jammy-backports InRelease Reading package lists... Done Building dependency tree... Done Reading state information... Done 5 packages can be upgraded. Run 'apt list --upgradable' to see them. Reading package lists... Done Building dependency tree... Done Reading state information... Done The following packages were automatically installed and are no longer required: libwpe-1.0-1 libwpebackend-fdo-1.0-1 Use 'sudo apt autoremove' to remove them. The following NEW packages will be installed: curl 0 upgraded, 1 newly installed, 0 to remove and 5 not upgraded. Need to get 194 kB of archives. After this operation, 454 kB of additional disk space will be used. Get:1 http://us.archive.ubuntu.com/ubuntu jammy-updates/main amd64 curl amd64 7.81.0-1ubuntu1.16 [194 kB] Fetched 194 kB in 1s (376 kB/s) Selecting previously unselected package curl. (Reading database ... 205154 files and directories currently installed.) Preparing to unpack .../curl_7.81.0-1ubuntu1.16_amd64.deb ... Unpacking curl (7.81.0-1ubuntu1.16) ... Setting up curl (7.81.0-1ubuntu1.16) ... Processing triggers for man-db (2.10.2-1) ... eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$ eepp@adams:~/notes$
eepp@adams:~/notes$ eepp@adams:~/notes$ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null eepp@adams:~/notes$
Install ROS 2 Packages
epp@adams:~/notes$ eepp@adams:~/notes$ sudo apt update Hit:1 http://us.archive.ubuntu.com/ubuntu jammy InRelease Hit:2 http://security.ubuntu.com/ubuntu jammy-security InRelease Hit:3 http://us.archive.ubuntu.com/ubuntu jammy-updates InRelease Get:4 http://packages.ros.org/ros2/ubuntu jammy InRelease [4,682 B] Hit:5 http://us.archive.ubuntu.com/ubuntu jammy-backports InRelease Get:6 http://packages.ros.org/ros2/ubuntu jammy/main amd64 Packages [1,481 kB] Fetched 1,485 kB in 1s (1,107 kB/s) Reading package lists... Done Building dependency tree... Done Reading state information... Done 5 packages can be upgraded. Run 'apt list --upgradable' to see them. eepp@adams:~/notes$ eepp@adams:~/notes$ sudo apt upgrade Reading package lists... Done Building dependency tree... Done Reading state information... Done Calculating upgrade... Done The following packages were automatically installed and are no longer required: libwpe-1.0-1 libwpebackend-fdo-1.0-1 Use 'sudo apt autoremove' to remove them. The following packages have been kept back: python3-update-manager ubuntu-advantage-tools ubuntu-pro-client-l10n update-manager update-manager-core 0 upgraded, 0 newly installed, 0 to remove and 5 not upgraded. eepp@adams:~/notes$
eepp@adams:~/notes$ eepp@adams:~/notes$ sudo apt install ros-humble-ros-base [sudo] password for eepp: Reading package lists... Done Building dependency tree... Done Reading state information... Done ros-humble-ros-base is already the newest version (0.10.0-1jammy.20240217.113903). ros-humble-ros-base set to manually installed. The following packages were automatically installed and are no longer required: libwpe-1.0-1 libwpebackend-fdo-1.0-1 Use 'sudo apt autoremove' to remove them. 0 upgraded, 0 newly installed, 0 to remove and 5 not upgraded. eepp@adams:~/notes$
InstallROS2PackagesPart3-20240416
Environment Setup
- See this section in
- Ubuntu Install Debians
eepp@adams:~$ emacs ~/.bashrc &
- add at the end
// Setup ROS Humble source /opt/ros/humble/setup.bash
Example Talker Listener
TERMINAL 1
eepp@adams:~$ ros2 run demo_nodes_cpp talker [INFO] [1713744119.577519274] [talker]: Publishing: 'Hello World: 1' [INFO] [1713744120.577533489] [talker]: Publishing: 'Hello World: 2' [INFO] [1713744121.577567785] [talker]: Publishing: 'Hello World: 3' [INFO] [1713744122.577595544] [talker]: Publishing: 'Hello World: 4' [INFO] [1713744123.577632438] [talker]: Publishing: 'Hello World: 5' [INFO] [1713744124.577659430] [talker]: Publishing: 'Hello World: 6' [INFO] [1713744125.577675939] [talker]: Publishing: 'Hello World: 7' [INFO] [1713744126.577718998] [talker]: Publishing: 'Hello World: 8' [INFO] [1713744127.577753904] [talker]: Publishing: 'Hello World: 9' [INFO] [1713744128.577793539] [talker]: Publishing: 'Hello World: 10' [INFO] [1713744129.577829964] [talker]: Publishing: 'Hello World: 11' [INFO] [1713744130.577790922] [talker]: Publishing: 'Hello World: 12' [INFO] [1713744131.577873203] [talker]: Publishing: 'Hello World: 13' [INFO] [1713744132.577905447] [talker]: Publishing: 'Hello World: 14' [INFO] [1713744133.577939617] [talker]: Publishing: 'Hello World: 15' ^C[INFO] [1713744133.625163376] [rclcpp]: signal_handler(signum=2) eepp@adams:~$
TERMINAL 2
eepp@adams:~$ ros2 run demo_nodes_py listener [INFO] [1713744125.584516000] [listener]: I heard: [Hello World: 7] [INFO] [1713744126.578340393] [listener]: I heard: [Hello World: 8] [INFO] [1713744127.578443721] [listener]: I heard: [Hello World: 9] [INFO] [1713744128.578487730] [listener]: I heard: [Hello World: 10] [INFO] [1713744129.578498026] [listener]: I heard: [Hello World: 11] ^Ceepp@adams:~$
84 mkdir scripts 87 cd scripts/ 93 scp 10.0.0.111:scripts/make_map.sh . 94 scp 10.0.0.111:scripts/nav2.sh . 95 scp 10.0.0.111:scripts/keyboard_teleop.sh . 96 scp 10.0.0.111:scripts/keyboard_save_map.sh . 97 scp 10.0.0.111:scripts/save_map.sh . 98 ls 99 ll
PC Setup
- PC Setup
- make sure "Humble" tab is selected
Install Dependent ROS Packages
Gazebo
Cartographer
Turtlebot3
Environment
$ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc $ source ~/.bashrc
