Difference between revisions of "Turtlebot3 Burger SBC Foxy Bringup Processes 20210303"
(→Burger URDF) |
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[[File:turtlebot3_burger.pdf | 800px]] | [[File:turtlebot3_burger.pdf | 800px]] | ||
− | '''TBD''' [[Hood_NUC_URDF_202011]] | + | == Reference == |
+ | |||
+ | '''TBD''' | ||
+ | * See [[Hood_NUC_URDF_202011]] | ||
+ | * Display a 3D representation of Burger | ||
= System Integration Parameters = | = System Integration Parameters = |
Latest revision as of 12:06, 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.
Reference
TBD
- See Hood_NUC_URDF_202011
- Display a 3D representation of Burger
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"
TF: Transform Topics
Transform topics published by the robot_state_publisher can be captured by
$ ros2 topic echo tf transforms: - header: stamp: sec: 1614792208 nanosec: 280959974 frame_id: odom child_frame_id: base_footprint transform: translation: x: 0.13462753501481928 y: 3.9344604215855566e-05 z: 0.0 rotation: x: 0.0 y: 0.0 z: 0.000571099078903287 w: 0.9999998369229077 ---
$ ros2 topic echo tf_static --- transforms: - header: stamp: sec: 1614799211 nanosec: 126169544 frame_id: base_footprint child_frame_id: base_link transform: translation: x: 0.0 y: 0.0 z: 0.01 rotation: x: 0.0 y: 0.0 z: 0.0 w: 1.0 - header: stamp: sec: 1614799211 nanosec: 126179909 frame_id: base_link child_frame_id: caster_back_link transform: translation: x: -0.081 y: 0.0 z: -0.004 rotation: x: -0.706825181105366 y: 0.0 z: 0.0 w: 0.7073882691671998 - header: stamp: sec: 1614799211 nanosec: 126187096 frame_id: base_link child_frame_id: imu_link transform: translation: x: -0.032 y: 0.0 z: 0.068 rotation: x: 0.0 y: 0.0 z: 0.0 w: 1.0 - header: stamp: sec: 1614799211 nanosec: 126190638 frame_id: base_link child_frame_id: base_scan transform: translation: x: -0.032 y: 0.0 z: 0.172 rotation: x: 0.0 y: 0.0 z: 0.0 w: 1.0 ---