Turtlebot3 Waffle NUC Humble Testing 20240520
From wikidb
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
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