Turtlebot3 Waffle Joule ROS 1 Kinetic

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References

Setup

System Test

Run Scripts

Real Sense

See 24 Appendix #RealSense 

 353  sudo apt-get install linux-headers-generic
 354  sudo apt-get install ros-kinetic-librealsense
 355  cd catkin_ws/src
 356  cd ~/catkin_ws/src
 357  git clone https://github.com/intel-ros/realsense.git
 358  ls
 359  cd realsense
 360  git checkout 1.8.0
 361  cd ../..
 362  catkin_make -j2


Run RealSense node 

 roslaunch realsense_camera r200_nodelet_default.launch



 ROS_MASTER_URI=http://10.0.0.157:11311
 
 process[camera/nodelet_manager-1]: started with pid [3347]
 process[camera/driver-2]: started with pid [3348]
 [ERROR] [1520401984.426480445]: Skipped loading plugin with error: XML Document '/opt/ros/kinetic/share/gmapping/nodelet_plugins.xml' has no Root Element. This likely means the XML is malformed or missing..
 [FATAL] [1520401984.451311263]: Failed to load nodelet '/camera/driver` of type `realsense_camera/R200Nodelet` to manager `nodelet_manager'
 [ INFO] [1520401984.490259260]: Initializing nodelet with 4 worker threads.
 [camera/driver-2] process has died [pid 3348, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load realsense_camera/R200Nodelet nodelet_manager depth:=depth color:=color ir:=ir ir2:=ir2 fisheye:=fisheye imu:=imu __name:=driver __log:=/home/eepp/.ros/log/64429cee-21c2-11e8-ad62-080027c0cb1e/camera-driver-2.log].
 log file: /home/eepp/.ros/log/64429cee-21c2-11e8-ad62-080027c0cb1e/camera-driver-2*.log
 ^C[camera/nodelet_manager-1] killing on exit




* gmapping skipping xml

Joule stalls

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

TB3 Project Customization

Checksum Errors

Joule Stall After 30 minutes

Movidius

References

Install

 mkdir -p ~/workspace
 cd ~/workspace
 git clone https://github.com/movidius/ncsdk.git
 ls
 cd ~/workspace/ncsdk
 ls
 make install
   ...
   Successfully installed mvnc-1.12.0.1
   You are using pip version 8.1.1, however version 9.0.1 is available.
   You should consider upgrading via the 'pip install --upgrade pip' command.
   NCS Libraries have been installed in /usr/local/lib
   NCS Toolkit binaries have been installed in /usr/local/bin
   NCS Include files have been installed in /usr/local/include
   NCS Python API has been installed in /opt/movidius, and PYTHONPATH environment variable updated
   Updating udev rules...
   Adding user 'eepp' to 'users' group
   Setup is complete.
   The PYTHONPATH enviroment variable was added to your .bashrc as described in the Caffe documentation. 
   Keep in mind that only newly spawned terminals can see this variable!
   This means that you need to open a new terminal in order to be able to use the NCSDK.
   Please provide feedback in our support forum if you encountered difficulties.

Investigating Movidus NCS USB Connection

 lsusb
   Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
   Bus 001 Device 003: ID 03e7:2150  
   Bus 001 Device 002: ID 80ee:0021 VirtualBox USB Tablet
   Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

The 03e7 is it 

  lsusb -v -s 1:3
    Bus 001 Device 003: ID 03e7:2150  
    ...
    idVendor           0x03e7 
    idProduct          0x2150 
    bcdDevice            0.01
    iManufacturer           1 Movidius Ltd.
    iProduct                2 Movidius MA2X5X
    ...

Build Examples

Problem One

 cd ~/workspace/ncsdk
 
 make examples
    ...
    [Error 7] Toolkit Error: USB Failure. Code: No devices found

Fix One

 cd ncsdk/
 
 make uninstall
 
 cd ..
 
 rm -rf ncsdk/
 
 git clone https://github.com/movidius/ncsdk
 
 cd ncsdk/

Problem Two

 making run
   ....
   ./run.py
  Traceback (most recent call last):
  File "./run.py", line 22, in <module>
     import cv2
   ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so: undefined symbol: PyCObject_Type
   Makefile:91: recipe for target 'run' failed
   make: *** [run] Error 1

Fix Two

Import Error ROS python3 opencv. ROS creates its own open cv which is compatible with python2 only. I do the following.I followed zishan’s instructions 

 sudo mv cv2.so cv2_renamed.so

I noticed that the NCS went away during the make run process. It no longer shows up in the lsusb list. I need to go through the VituralBox Devices -> USB menu to re-enable it.

I entered make run again.

Problem Three

 make run
   ...
   Performing bulk write of 865724 bytes...
   Successfully sent 865724 bytes of data in 236.494626 ms (3.491068 MB/s)
  Boot successful, device address 2
  Traceback (most recent call last):
    File "./run.py", line 58, in <module>
      device.OpenDevice()
    File "/usr/local/lib/python3.5/dist-packages/mvnc/mvncapi.py", line 147, in OpenDevice
      raise Exception(Status(status))
  Exception: mvncStatus.ERROR
  Makefile:91: recipe for target 'run' failed
  make: *** [run] Error 1

lsusb confirms that the Vovidius NCS is not connected

Stalled

Reported at Compatibility of Movidius ncsdk with ROS. Not sure how to approach this. Going to focus here next.

Next Steps

Support

OpenCR

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