Turtlebot3 Waffle NUC Humble NUC 20240422

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References

Robotis

Install Ubuntu on NUC Named adams

Install ROS2 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$


InstallROS2Packages20240416 



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


  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:~$

Copied Navigation Scripts from Hood

  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

Navagation2

Turtlebot3

Environment

 $ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
 $ source ~/.bashrc
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