Hood NUC Master and Sisters Client 202006

Create Work Spaces on Hood and Sisters

 $ cd

 $ mkdir -p eepp_ws/src

 $ cd eepp_ws/

 $ colcon build --symlink-install
                     
       Summary: 0 packages finished [0.13s]

add to .bashrc

 source /home/eepp/eepp_ws/install/setup.bash

Split Cartographer Launch Script

Split cartographer.launch.py into Hood and Sisters components. Find it in

 turtlebot3/turtlebot3/turtlebot3_cartographer/launch/

 $ cd

 $ mkdir -p eepp_ws/src/turtlebot3/turtlebot3

 $ cp -r turtlebot3/turtlebot3/turtlebot3_cartographer eepp_ws/turtlebot3/turtlebot3

 $ cd eepp_ws/turtlebot3/turtlebot3/turtlebot3_cartographer

Modify CMakeLists.txt to create a package reflecting my changes.

 $ diff ~/turtlebot3_ws/src/turtlebot3/turtlebot3/turtlebot3_cartographer/CMakeLists.txt  CMakeLists.txt
     5c5
     < project(turtlebot3_cartographer)
     ---
     > project(eepp_cartographer)

 $ diff ~/turtlebot3_ws/src/turtlebot3/turtlebot3/turtlebot3_cartographer/package.xml  package.xml
     4,5c4,5
     <   <name>turtlebot3_cartographer</name>
     <   <version>2.0.1</version>
     ---
     >   <name>eepp_cartographer</name>
     >   <version>0.0.1</version>
     7c7
     <     ROS 2 launch scripts for cartographer
     ---
     >     ROS 2 launch scripts for cartographer - eepp mods
     10,16c10,12
     <   <author email="thlim@robotis.com">Darby Lim</author>
     <   <author email="pyo@robotis.com">Pyo</author>
     <   <maintainer email="pyo@robotis.com">Pyo</maintainer>
     <   <url type="website">http://wiki.ros.org/turtlebot3_bringup</url>
     <   <url type="emanual">http://turtlebot3.robotis.com</url>
     <   <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3</url>
     <   <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3/issues</url>
     ---
     >   <author email="edward.c.epp@ieee.org">Edward C Epp</author>
     >   <maintainer email="edward.c.epp@ieee.org">Edward C Epp</maintainer>
     >   <url type="website">http://zdome.net/wiki/index.php/Turtlebot3_ROS2</url>

TBD: I shouldn't be the author. Darby Lim should get primary credit.

The files in the rviz and config directories are necessary but not modified.

eepp@hood:turtlebot3_cartographer$ diff ~/turtlebot3_ws/src/turtlebot3/turtlebot3/turtlebot3_cartographer/launch/cartographer.launch.py launch/cartographer1.launch.py 
15a16,18
> #
> # Partitioned: Ed Epp
> # Runs on robot
76,82c79,85
<         Node(
<             package='rviz2',
<             node_executable='rviz2',
<             node_name='rviz2',
<             arguments=['-d', rviz_config_dir],
<             parameters=[{'use_sim_time': use_sim_time}],
<             output='screen'),
---
> #        Node(
> #            package='rviz2',
> #            node_executable='rviz2',
> #            node_name='rviz2',
> #            arguments=['-d', rviz_config_dir],
> #            parameters=[{'use_sim_time': use_sim_time}],
> #            output='screen'),
eepp@hood:turtlebot3_cartographer$ diff ~/turtlebot3_ws/src/turtlebot3/turtlebot3/turtlebot3_cartographer/launch/cartographer.launch.py launch/cartographer2.launch.py 
53,59c53,59
<         Node(
<             package='cartographer_ros',
<             node_executable='cartographer_node',
<             node_name='cartographer_node',
<             output='screen',
<             parameters=[{'use_sim_time': use_sim_time}],
<             arguments=['-configuration_directory', cartographer_config_dir, '-configuration_basename', configuration_basename]),
---
> #        Node(
> #            package='cartographer_ros',
> #            node_executable='cartographer_node',
> #            node_name='cartographer_node',
> #            output='screen',
> #            parameters=[{'use_sim_time': use_sim_time}],
> #            arguments=['-configuration_directory', cartographer_config_dir, '-configuration_basename', configuration_basename]),

Configure for Multiprocessor Communication

Hood bashrc

add to .bashrc

 export ROS_MASTER_URI=http://10.0.0.111:11311
 export ROS_HOSTNAME=10.0.0.111

Sisters

add to .bashrc

 export ROS_MASTER_URI=http://10.0.0.111:11311
 export ROS_HOSTNAME=10.0.0.159

Log

• Hood NUC Cartographer Bringup 202006 Notes and Log