|
|
Line 12: |
Line 12: |
| | | |
| * [[Turtlebot3 Waffle NUC Install ROS2 Humble 20240422]] | | * [[Turtlebot3 Waffle NUC Install ROS2 Humble 20240422]] |
− |
| |
− | 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$
| |
− | </pre>
| |
− |
| |
− |
| |
− |
| |
− |
| |
− | <pre>
| |
− | 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 $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
| |
− | eepp@adams:~/notes$
| |
− | </pre>
| |
− |
| |
− |
| |
− | ==Install ROS 2 Packages==
| |
− |
| |
− |
| |
− | <pre>
| |
− | 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$
| |
− |
| |
− | </pre>
| |
− |
| |
− |
| |
− | [[InstallROS2Packages20240416]]
| |
− |
| |
− |
| |
− |
| |
− | <pre>
| |
− |
| |
− | 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$
| |
− |
| |
− | </pre>
| |
− |
| |
− |
| |
− |
| |
− | [[InstallROS2PackagesPart3-20240416]]
| |
− |
| |
− | == Environment Setup ==
| |
− |
| |
− | * See this section in
| |
− | * [https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html 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'''
| |
− |
| |
− | <pre>
| |
− | 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:~$
| |
− | </pre>
| |
− |
| |
− | '''TERMINAL 2'''
| |
− |
| |
− | <pre>
| |
− | 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:~$
| |
− | </pre>
| |
− |
| |
− | == Copied Navigation Scripts from Hood ==
| |
− |
| |
− | 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 =
| |
− |
| |
− | * [https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/#pc-setup PC Setup]
| |
− | * make sure "Humble" tab is selected
| |
− |
| |
− |
| |
− | == Install Dependent ROS Packages ==
| |
− |
| |
− | === Gazebo ===
| |
− |
| |
− | * [[Install Gazebo NUC 20240422]]
| |
− |
| |
− | === Cartographer ===
| |
− |
| |
− | * [[Install Cartographer NUC 20240422]]
| |
− |
| |
− | === Navagation2 ===
| |
− |
| |
− | * [[Install Navagation2 NUC 20240422]]
| |
− |
| |
− | === Turtlebot3 ===
| |
− |
| |
− | * [[Install Turtlebot3 Packages NUC 20240422]]
| |
− |
| |
− | == Environment ==
| |
− |
| |
− | $ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
| |
− | $ source ~/.bashrc
| |