Difference between revisions of "Turtlebot3 Waffle NUC Humble Testing 20240520"
(→Testing Scripts) |
(→LIDAR and RVIZ display) |
||
Line 50: | Line 50: | ||
== LIDAR and RVIZ display == | == LIDAR and RVIZ display == | ||
+ | |||
+ | '''Termal 1''' | ||
+ | <pre> | ||
+ | |||
+ | TBD | ||
+ | |||
+ | </pre> | ||
= Testing Scripts = | = Testing Scripts = |
Revision as of 18:40, 21 May 2024
Contents
Goals
Make adams work reliable at boot given the following HW configuration.
- Use a wireless keyboard with an associate wireless mouse to free one USB port
- An HDMI monitor
- Use the OpenCR which will take the second USB port
- The third USB port will be used by the Lidar version 1
- This leaves two lightning ports
- Using power brick that came with to box
The Setting
.bashrc
This are the known .bashrc setting required for bring up now
$ tail .bashrc // Setup ROS Humble with turtlebot3 additionsselect source /opt/ros/humble/setup.bash source ~/turtlebot3_ws/install/setup.bash // Setup the Turtlebot3 waffle export ROS_DOMAIN_ID=30 #TURTLEBOT3 export LDS_MODEL=LDS-01 export TURTLEBOT3_MODEL=waffle
Power Up
Keyboard Teleop
Gives confidence that the bashrc is setting up critical environmental variables and ROS. Major HW component are working and doing much of what we expect. OpenCR and the wheel drivers are working. The remote controler is working.
I had a little trouble with controlling the wheels. In particular, the keyboard_teleop didn't work. The following sequence turned out to be reliable. This is something to be debugged latter. In years past I booted the OpenCR and NUC simultaneously and also in any order.
Power up outline
- Power on the OpenCR board first
- wait for the boot finished chime
- Test the OpenCR by driving the wheels with Robotis controller
- Using the Robotis RC100B Controller 20240521
- This is an appropriate option when mapping. The waffle can be driven around the area of interest. More latter.
- Power up adams and log in
- In T1 bring up
$ source scripts/bringup.sh
- in T2 bring up the keyboard teleop program
$ source scripts/keyboard_teleop.sh
Bring up log details are at Turtlebot3_Waffle_NUC_Humble_Configure_20240426#Signs_of_Life_Test
LIDAR and RVIZ display
Termal 1
TBD
Testing Scripts
bringup
$ cat scripts/bringup.sh #!/bin/bash # ece ros2 launch turtlebot3_bringup robot.launch.py
keyboard teleop
$ cat scripts/keyboard_teleop.sh #!/bin/bash # ece ros2 run turtlebot3_teleop teleop_keyboard
make_map
$ cat scripts/make_map.sh #!/bin/bash # ece ros2 launch turtlebot3_cartographer cartographer.launch.py
same_map
$ cat scripts/save_map.sh #!/bin/bash # ece # # save_map <map name> if [ $# -eq 1 ] then ros2 run nav2_map_server map_saver_cli -f ~/maps/$1 else echo "save_map <map name>" fi
$ cat scripts/nav2.sh #!/bin/bash # ece # # nav2 <map name> if [ $# -eq 1 ] then ros2 launch turtlebot3_navigation2 navigation2.launch.py map:=$HOME/maps/$1.yaml else echo "save_map <map name>" fi