Difference between revisions of "Turtlebot3 Waffle NUC Humble NUC 20240422"
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* [[Turtlebot3 Waffle NUC Install ubuntu jammy 22.04 20240422]] | * [[Turtlebot3 Waffle NUC Install ubuntu jammy 22.04 20240422]] | ||
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eepp@adams:~/notes$ | eepp@adams:~/notes$ | ||
eepp@adams:~/notes$ | eepp@adams:~/notes$ | ||
Revision as of 10:48, 16 May 2024
References
Robotis
Install Ubuntu on NUC Named adams
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>
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 $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null eepp@adams:~/notes$
Install ROS 2 Packages
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$
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$
InstallROS2PackagesPart3-20240416
Environment Setup
- See this section in
- 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
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:~$
TERMINAL 2
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:~$
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
- PC Setup
- make sure "Humble" tab is selected
Install Dependent ROS Packages
Gazebo
Cartographer
Turtlebot3
Environment
$ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc $ source ~/.bashrc
