Difference between revisions of "Turtlebot3 Waffle Joule ROS 1 Kinetic"

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(→‎Real Sense)
(→‎Real Sense)
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Run RealSense node
 
Run RealSense node
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   http://www.robotis-shop-en.com/?act=shop_en.goods_view&GS=3166&GC=GD070003
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   roslaunch realsense_camera r200_nodelet_default.launch
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 +
 
 +
 
 +
  ROS_MASTER_URI=http://10.0.0.157:11311
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 +
  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
 +
 
 +
 
  
  

Revision as of 23:05, 6 March 2018

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

Nav

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

TB3 Project Customization

Checksum Errors

Support

OpenCR

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