Revision as of 17:25, 29 January 2021

References

Robotis Turtlebot3 eManual OpenCR Setup

• Section 3.3 OpenCr Setup

OpenCR Setup

Install required packages on the Raspbery Pi to upload the OpenCR firmware

 $ sudo dpkg --add-architecture armhf
 
 $ sudo apt-get update
       ...

 $ sudo apt-get update
       ...

Setup install for a Turtlebot3 Burger using /dev/ttyACM0

 $ export OPENCR_PORT=/dev/ttyACM0
 
 $ export OPENCR_MODEL=burger

 $ rm -rf ./opencr_update.tar.bz2

Download the OpenCR firmware and loader

 $ wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2
       ...

 $ tar -xjf ./opencr_update.tar.bz2

Upload

 $ cd ~/opencr_update

 $ ls
     burger.opencr        opencr_ld_shell_x86.exe  update.bat
     opencr_ld_shell_arm  README.md                update.sh
     opencr_ld_shell_x86  released_0.0.3.txt       waffle.opencr

A successful firmware upload

 $ ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr
       aarch64
       arm
       OpenCR Update Start..
       opencr_ld_shell ver 1.0.0
       opencr_ld_main 
       [  ] file name   	: burger.opencr 
       [  ] file size   	: 127 KB
       [  ] fw_name     	: burger 
       [  ] fw_ver      	: V190829R3 
       [OK] Open port   	: /dev/ttyACM0
       [  ]
       [  ] Board Name  	: OpenCR R1.0
       [  ] Board Ver   	: 0x17020800
       [  ] Board Rev   	: 0x00000000
       [OK] flash_erase 	: 1.07s
       [OK] flash_write 	: 1.60s 
       [OK] CRC Check   	: CBBCC4 CBBCC4 , 0.006000 sec
       [OK] Download 
       [OK] jump_to_fw

Notes and Logs

• OpenCR Turtlebot3 Setup ROS 2 Dashing 20210115 Note and Log