Turtlebot3 Waffle Joule ROS 1 Kinetic
From wikidb
Contents
References
Setup
Bringup
sudo apt-get install openssh-server - required for Fetch and ssh on Mac
bringup remote
roslaunch trutlebot3_bringup turtlebot3_remote.launch on dell
turtlebot3_lidar.lauch on turtlebot
rosrun rviz .... on dell
roslaunch turtlebot3_teleop turtlebote_teleop_key.launch on dell
teleop ran but didn't work
uptime ... 2.60, 2.59, 2.10
Keyboard Teleop
Success
remote
roscore roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
turtlebot
roslaunch turtlebot3_bringup turtlebot3_core.launch
Joystick Teleop
reference
Joystick install and test
in VirtualBox for Dual Action ... under devices USM - checked it while it was plugged in.
it became /dev/input/js2 - tested by plugging in and out
now
lsusb Bus 001 Device 004: ID 046d:c216 Logitech, Inc. Dual Action Gamepad Bus 001 Device 002: ID 80ee:0021 VirtualBox USB Tablet Bus 001 Device 001: ID 1d6b:0001 Linux Foundation 1.1 root hub
this is now working
jstest /dev/input/js2 Driver version is 2.1.0. Joystick (Logitech Logitech Dual Action) has 6 axes (X, Y, Z, Rz, Hat0X, Hat0Y) and 12 buttons (Trigger, ThumbBtn, ThumbBtn2, TopBtn, TopBtn2, PinkieBtn, BaseBtn, BaseBtn2, BaseBtn3, BaseBtn4, BaseBtn5, BaseBtn6). Testing ... (interrupt to exit) Axes: 0: 0 1: 0 2: 0 3: 0 4: 0 5: 0 Buttons: 0:ofAxes: 0: 0 1: 0
ll /dev/input/js2 crw-rw-r--+ 1 root input 13, 2 Feb 9 16:45 /dev/input/js2 sudo chmod 666 /dev/input/js2 ll /dev/input/js2 crw-rw-rw-+ 1 root input 13, 2 Feb 9 16:45 /dev/input/js2
test
Terminal 1
rosparam set joy_node/dev "/dev/input/js2" rosrun joy joy_node
Termina 2
rostopic echo joy
run
remote - after configuration below this works
Terminal 1
sudo apt-get install xboxdrv ros-kinetic-joy ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-joy roscore
Terminal 2
roslaunch teleop_twist_joy teleop.launch
Teminal 3 test
rostopic echo cmd_vel
turtlebot bringup
roslaunch turtlebot3_bringup turtlebot3_core.launch
config
roscd teleop_twist_joy/launch diff teleop.launch teleop.launch.org 3c3 < <arg name="joy_dev" default="/dev/input/js2" /> --- > <arg name="joy_dev" default="/dev/input/js0" />
Today it was js1 and other changes
diff teleop.launch teleop.launch.org 2,3c2,3 < <arg name="joy_config" default="logitech" /> < <arg name="joy_dev" default="/dev/input/js1" /> --- > <arg name="joy_config" default="ps3" /> > <arg name="joy_dev" default="/dev/input/js0" />
For Logitech G-UF13A Dual Action
cat ../config/logitech.config.yaml axis_linear: 1 # Left thumb stick vertical scale_linear: 0.7 scale_linear_turbo: 1.5 axis_angular: 0 # Left thumb stick horizontal scale_angular: 0.4 enable_button: 8 # L2 shoulder button enable_turbo_button: 10 # L1 shoulder button
SLAM
remote
terminal 1
roscore
turtlebot
terminal 1
roslaunch turtlebot3_bringup turtlebot3_core.launch
terminal 2
roslaunch turtlebot3_bringup turtlebot3_lidar.launch
remote
terminal 2
roslaunch teleop_twist_joy teleop.launch
terminal 3
export TURTLEBOT3_MODEL=waffle roslaunch turtlebot3_slam turtlebot3_slam.launch
terminal 4
rosrun rviz rviz -d `rospack find turtlebot3_slam`/rviz/turtlebot3_slam.rviz
terminal 5
rosrun map_server map_saver -f ~/map
turtle - just like above
remote
terminal 2
export TURTLEBOT3_MODEL=waffle roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map2.yaml
terminal 3
rosrun rviz rviz -d `rospack find turtlebot3_navigation`/rviz/rtlebot3_nav.rviz
Project Lauch
sisters
cd catkin_ws/src/ catkin_create_pkg host
box
cd catkin_ws/src/ catkin_create_pkg client
Question: should I run?
. catkin_ws_indigo/devel/setup.bash
