Difference between revisions of "Turtlebot3 Burger SBC Foxy Bringup Processes 20210303"
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The file is copied here: [[Turblebot3 Burger Foxy Turtlebot3_node Parameters 20210303]] | The file is copied here: [[Turblebot3 Burger Foxy Turtlebot3_node Parameters 20210303]] | ||
− | Note this declaration targeted at the diff_drive_controller which links the "odom" parent frame to its child "base_footprint". | + | Note this declaration targeted at the diff_drive_controller which links the "odom" parent frame to its child "base_footprint". It is necessary so odometry information can be mapped to the location of the laser scanner's frame named "base_scan'. See |
+ | * [https://intel.github.io/robot_devkit_doc/pages/navigation.html Intel's Navigation2 tutorial] Section 2.2 "Launch navigation2 on a Robot" for running RVIZ. | ||
+ | |||
+ | Make sure all transforms from odom are present. (odom->base_link->base_scan) | ||
diff_drive_controller: | diff_drive_controller: |
Revision as of 11:50, 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 Parameters 20210303
Note this declaration targeted at the diff_drive_controller which links the "odom" parent frame to its child "base_footprint". It is necessary so odometry information can be mapped to the location of the laser scanner's frame named "base_scan'. See
- Intel's Navigation2 tutorial Section 2.2 "Launch navigation2 on a Robot" for running RVIZ.
Make sure all transforms from odom are present. (odom->base_link->base_scan)
diff_drive_controller: ros__parameters: odometry: publish_tf: true use_imu: true frame_id: "odom" child_frame_id: "base_footprint"