Turtlebot3 URDF Editing 20240524

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References

Main References

Other

Installing urdf_tutorial

Test Run

$ ros2 launch urdf_tutorial display.launch.py model:=/home/eepp/turtlebot3_ws/src/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle.urdf 
[INFO] [launch]: All log files can be found below /home/eepp/.ros/log/2024-05-24-11-49-45-781551-adams-7966
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [7968]
[INFO] [joint_state_publisher_gui-2]: process started with pid [7970]
[INFO] [rviz2-3]: process started with pid [7972]
[rviz2-3] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[robot_state_publisher-1] [INFO] [1716576585.961610516] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1716576585.961690756] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1716576585.961699112] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-1] [INFO] [1716576585.961704997] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-1] [INFO] [1716576585.961710258] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-1] [INFO] [1716576585.961715547] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1716576585.961720610] [robot_state_publisher]: got segment camera_rgb_frame
[robot_state_publisher-1] [INFO] [1716576585.961725931] [robot_state_publisher]: got segment camera_rgb_optical_frame
[robot_state_publisher-1] [INFO] [1716576585.961730857] [robot_state_publisher]: got segment caster_back_left_link
[robot_state_publisher-1] [INFO] [1716576585.961735832] [robot_state_publisher]: got segment caster_back_right_link
[robot_state_publisher-1] [INFO] [1716576585.961740778] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1716576585.961746293] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-1] [INFO] [1716576585.961752376] [robot_state_publisher]: got segment wheel_right_link
[joint_state_publisher_gui-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[rviz2-3] [INFO] [1716576586.227491510] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-3] [INFO] [1716576586.227546765] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-3] [INFO] [1716576586.240909522] [rviz2]: Stereo is NOT SUPPORTED
[joint_state_publisher_gui-2] [INFO] [1716576586.360249499] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[joint_state_publisher_gui-2] [INFO] [1716576586.367835448] [joint_state_publisher]: Centering
[joint_state_publisher_gui-2] [INFO] [1716576586.438988982] [joint_state_publisher]: Centering


^C

ScreenshotFirstIRDFTutorial.png

Help

TF Setting

You can manage the amount of clutter in redering using TF Setting in the Display Window. Select and deselect the following check boxes:

  • Show Names
  • Show Axes
  • Show Arrows

Global Options

  • Background Color

Make it white

Robot Model Error

in new Terminal 

$ launch turtlebot3_bringup turtlebot3_model.launch
Command 'launch' not found, did you mean:
  command 'launchy' from deb ruby-launchy (2.5.0-3)
  command '0launch' from deb 0install-core (2.16-2)
  command 'launchn' from deb csmith (2.3.0-6build1)
Try: sudo apt install <deb name>

Or bring up the Turtle3 

 source scripts/bringup.sh

Or maybe just: To be tested (This must be pretty much the same as doing the bringup script 

 ros2 launch turtlebot3_bringup robot.launch.py

Tools

Check URDF

$ check_urdf /home/eepp/turtlebot3_ws/src/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle.urdf 
robot name is: turtlebot3_waffle
---------- Successfully Parsed XML ---------------
root Link: base_footprint has 1 child(ren)
    child(1):  base_link
        child(1):  camera_link
            child(1):  camera_depth_frame
                child(1):  camera_depth_optical_frame
            child(2):  camera_rgb_frame
                child(1):  camera_rgb_optical_frame
        child(2):  caster_back_left_link
        child(3):  caster_back_right_link
        child(4):  imu_link
        child(5):  base_scan
        child(6):  wheel_left_link
        child(7):  wheel_right_link

urdf_to_graphiz Visualizer

$ urdf_to_graphiz turtlebot3_waffle_nuc.urdf 
WARNING: The executable named 'urdf_to_graphiz' is deprecated. Use 'urdf_to_graphviz' instead.
WARNING: OUTPUT not given. This type of usage is deprecated!Usage: urdf_to_graphviz input.xml [OUTPUT]  Will create either $ROBOT_NAME.gv & $ROBOT_NAME.pdf in CWD  or OUTPUT.gv & OUTPUT.pdf.
Created file turtlebot3_waffle.gv
Created file turtlebot3_waffle.pdf

$ evince turtlebot3_waffle.pdf

Modify the Waffle Model

Create the dev tree

I have forgotten how to do this 

 mkdir -f edc_ws/src

I think 

 cd edc_ws/src

This didn't work 

   $ catkin_make -j2
       Command 'catkin_make' not found, but can be installed with:
       sudo apt install catkin

This didn't help 

$ sudo apt install catkin
[sudo] password for eepp: 
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 python3-catkin-pkg : Conflicts: catkin but 0.8.10-7 is to be installed
 python3-catkin-pkg-modules : Conflicts: catkin but 0.8.10-7 is to be installed
E: Unable to correct problems, you have held broken packages.

I'll come back to this later

Hack

 $ cd turtlebot3_ws/src/turtlebot3/turtlebot3_description/urdf/

 $ ls
     common_properties.urdf  turtlebot3_waffle_pi.urdf
     turtlebot3_burger.urdf  turtlebot3_waffle.urdf

 $ cp turtlebot3_waffle.urdf turtlebot3_waffle_nuc.urdf

 $ ros2 launch urdf_tutorial display.launch.py model:=/home/eepp/turtlebot3_ws/src/turtlebot3/turtlebot3_description/urdf/turtlebot3_waffle_nuc.urdf

Note: change to turtlebot3_ws done by create a duplicate file. To be fixed

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