Turtlebot3 Burger Bringup 29210115
From wikidb
References
Robotis Turtlebot3 eManual bringup
Bringup Turtlebot3 Burger
ssh to the Turtlebot
eepp@sisters:~$ ssh ubuntu@10.0.0.186
ubuntu@10.0.0.186's password:
Welcome to Ubuntu 18.04.5 LTS (GNU/Linux 4.15.0-1077-raspi2 aarch64)
* Documentation: https://help.ubuntu.com
* Management: https://landscape.canonical.com
* Support: https://ubuntu.com/advantage
System information as of Fri Jan 15 20:36:03 UTC 2021
System load: 0.29 Processes: 116
Usage of /: 36.0% of 14.33GB Users logged in: 1
Memory usage: 23% IP address for eth0: 10.0.0.186
Swap usage: 0%
* Introducing self-healing high availability clusters in MicroK8s.
Simple, hardened, Kubernetes for production, from RaspberryPi to DC.
https://microk8s.io/high-availability
3 packages can be updated.
2 of these updates are security updates.
To see these additional updates run: apt list --upgradable
New release '20.04.1 LTS' available.
Run 'do-release-upgrade' to upgrade to it.
Last login: Fri Jan 15 20:28:30 2021 from 10.0.0.159
ubuntu@ubuntu:~$
Define the environment. These eventually end up in the .bashrc.
$ export TURTLEBOT3_MODEL=burger
Start up the Burger.
$ ros2 launch turtlebot3_bringup robot.launch.py [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2021-01-15-20-33-17-678050-ubuntu-5580 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_burger.urdf [INFO] [robot_state_publisher-1]: process started with pid [5590] [INFO] [hlds_laser_publisher-2]: process started with pid [5591] [INFO] [turtlebot3_ros-3]: process started with pid [5592] [robot_state_publisher-1] Initialize urdf model from file: /home/ubuntu/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_burger.urdf [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link base_link had 5 children [robot_state_publisher-1] Link caster_back_link had 0 children [robot_state_publisher-1] Link imu_link had 0 children [robot_state_publisher-1] Link base_scan had 0 children [robot_state_publisher-1] Link wheel_left_link had 0 children [robot_state_publisher-1] Link wheel_right_link had 0 children [robot_state_publisher-1] got segment base_footprint [robot_state_publisher-1] got segment base_link [robot_state_publisher-1] got segment base_scan [robot_state_publisher-1] got segment caster_back_link [robot_state_publisher-1] got segment imu_link [robot_state_publisher-1] got segment wheel_left_link [robot_state_publisher-1] got segment wheel_right_link [hlds_laser_publisher-2] [INFO] [hlds_laser_publisher]: Init hlds_laser_publisher Node Main [hlds_laser_publisher-2] [INFO] [hlds_laser_publisher]: port : /dev/ttyUSB0 frame_id : base_scan [ERROR] [hlds_laser_publisher-2]: process has died [pid 5591, exit code 255, cmd '/opt/ros/dashing/lib/hls_lfcd_lds_driver/hlds_laser_publisher __node:=hlds_laser_publisher __params:=/tmp/launch_params_xe0b2_3z']. [robot_state_publisher-1] Adding fixed segment from base_footprint to base_link [robot_state_publisher-1] Adding fixed segment from base_link to caster_back_link [robot_state_publisher-1] Adding fixed segment from base_link to imu_link [robot_state_publisher-1] Adding fixed segment from base_link to base_scan [robot_state_publisher-1] Adding moving segment from base_link to wheel_left_link [robot_state_publisher-1] Adding moving segment from base_link to wheel_right_link [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper [turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)! [turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate! [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Start Calibration of Gyro [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Calibration End [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Motors [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Wheels [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Sensors [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create battery state publisher [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create imu publisher [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sensor state publisher [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create joint state publisher [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Devices [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create motor power server [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create reset server [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sound server [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Run! [turtlebot3_ros-3] [INFO] [diff_drive_controller]: Init Odometry [turtlebot3_ros-3] [INFO] [diff_drive_controller]: Run!
Error: I must have had the LIDAR unplugged. There was no problem with the device
Sanity Test
Topics List
ubuntu@ubuntu:~$ ros2 topic list /battery_state /cmd_vel /imu /joint_states /magnetic_field /odom /parameter_events /robot_description /rosout /sensor_state /tf /tf_static
Service List
ubuntu@ubuntu:~$ ros2 service list /diff_drive_controller/describe_parameters /diff_drive_controller/get_parameter_types /diff_drive_controller/get_parameters /diff_drive_controller/list_parameters /diff_drive_controller/set_parameters /diff_drive_controller/set_parameters_atomically /launch_ros/describe_parameters /launch_ros/get_parameter_types /launch_ros/get_parameters /launch_ros/list_parameters /launch_ros/set_parameters /launch_ros/set_parameters_atomically /motor_power /reset /robot_state_publisher/describe_parameters /robot_state_publisher/get_parameter_types /robot_state_publisher/get_parameters /robot_state_publisher/list_parameters /robot_state_publisher/set_parameters /robot_state_publisher/set_parameters_atomically /sound /turtlebot3_node/describe_parameters /turtlebot3_node/get_parameter_types /turtlebot3_node/get_parameters /turtlebot3_node/list_parameters /turtlebot3_node/set_parameters /turtlebot3_node/set_parameters_atomically
RViz
TBD: Experiment with RViz
