Difference between revisions of "Turtlebot3 ROS2"
From wikidb
(→Tutorials) |
(→ROS 2 Install on Hood) |
||
| (48 intermediate revisions by the same user not shown) | |||
| Line 22: | Line 22: | ||
= Software Setup = | = Software Setup = | ||
| − | == Ubuntu == | + | == Ubuntu Setup on Hood == |
* [[Hood NUC Ubuntu 18.04]] | * [[Hood NUC Ubuntu 18.04]] | ||
| − | == OpenCR == | + | == OpenCR Setup == |
* [[Hood OpenCR Firmware Version V190829R3 Install]] Rototis instructions | * [[Hood OpenCR Firmware Version V190829R3 Install]] Rototis instructions | ||
| − | == ROS 2 Install == | + | == ROS 2 Tools == |
| + | |||
| + | * [[ROS 2 Tools]] | ||
| + | |||
| + | == ROS 2 Install on Hood == | ||
* [[Hood NUC ROS2 Dashing Binary 202002]] | * [[Hood NUC ROS2 Dashing Binary 202002]] | ||
* [[Hood NUC ROS2 Dashing Configuration 202004]] | * [[Hood NUC ROS2 Dashing Configuration 202004]] | ||
| − | * [[Hood NUC Navigation 2 Dashing Binary 202003]] | + | * [[Hood NUC Navigation 2 Dashing Binary 202003]] and Turtlebot3 |
| − | + | ||
| − | == Test | + | == Test Core Capabilities == |
| − | + | ||
| − | + | ||
| − | + | ||
| − | + | ||
| − | + | ||
| + | * [[Hood NUC Bringup 2 Dashing 202003]] Keyboard teleop and RViz | ||
| + | * [[Hood NUC Bringup Investigate 202012]] | ||
| + | * [[Hood RC100 Controller 202006]] | ||
* [[Hood NUC ROS2 Joystick 202004]] | * [[Hood NUC ROS2 Joystick 202004]] | ||
* [[Hood NUC RealSense D400 Series 202004]] | * [[Hood NUC RealSense D400 Series 202004]] | ||
| + | |||
| + | = Mapping = | ||
| + | |||
| + | * [[Hood NUC Install, Test and Configure Cartographer 202006]] Everything runs on Hood (the robot) | ||
| + | * [[Hood NUC Master and Sisters Client 202006]] split cartographer between Hood (the robot) and Sisters (remote laptop) | ||
| + | * [[Hood NUC and Sisters Remote Run Cartographer 202006]] Create bringup convenience scripts | ||
| + | * [[Hood NUC Investigate Cartographer Launch 202012]] | ||
| + | |||
| + | = Navigation = | ||
| + | |||
| + | * [[Hood NUC Navigation 202006]] | ||
| + | * [[Hood NUC Navigation Nav2Site 202101]] | ||
= Tutorials = | = Tutorials = | ||
| Line 51: | Line 64: | ||
* [https://index.ros.org/doc/ros2/Tutorials/ ROS2 Tutorial Index] | * [https://index.ros.org/doc/ros2/Tutorials/ ROS2 Tutorial Index] | ||
* [[Hood NUC ROS2 Dashing Turtlesim and rqt 202003]] | * [[Hood NUC ROS2 Dashing Turtlesim and rqt 202003]] | ||
| + | |||
| + | = Work Space = | ||
| + | |||
| + | * [[Sisters Dell Open Manipulator Workspace Setup 202006]] | ||
| + | |||
| + | ---- | ||
---- | ---- | ||
Latest revision as of 16:43, 1 February 2021
Contents
Environment
Turtlebot3 R0S 2 Version Details
- Ubuntu 18.04.3 LTS Bionic Beaver
- ROS2 Dashing
- Turtlebot3
- OpenCR
- HW R1.0
- FW waffle V190829R3
References
Waffle Modifications
Software Setup
Ubuntu Setup on Hood
OpenCR Setup
- Hood OpenCR Firmware Version V190829R3 Install Rototis instructions
ROS 2 Tools
ROS 2 Install on Hood
- Hood NUC ROS2 Dashing Binary 202002
- Hood NUC ROS2 Dashing Configuration 202004
- Hood NUC Navigation 2 Dashing Binary 202003 and Turtlebot3
Test Core Capabilities
- Hood NUC Bringup 2 Dashing 202003 Keyboard teleop and RViz
- Hood NUC Bringup Investigate 202012
- Hood RC100 Controller 202006
- Hood NUC ROS2 Joystick 202004
- Hood NUC RealSense D400 Series 202004
Mapping
- Hood NUC Install, Test and Configure Cartographer 202006 Everything runs on Hood (the robot)
- Hood NUC Master and Sisters Client 202006 split cartographer between Hood (the robot) and Sisters (remote laptop)
- Hood NUC and Sisters Remote Run Cartographer 202006 Create bringup convenience scripts
- Hood NUC Investigate Cartographer Launch 202012
Tutorials
Work Space
Depreciated Intel Source Install
- Hood NUC ROS2 Binary install to /opt/ros
Based on the Intel Navigation 2 team
- Hood NUC Melih ROS2 Source Install
- Hood NUC Melih Gazebo Install
- Hood NUC Melih ROS2 Navigation 2 Install
- Hood NUC Melih ROS2 TB3 Install
- Hood NUC Melih ROS2 TB3 Bringup and Test
- Robotis Basic Operation TBD
From Tutlebot3 Robotis e-Manual
Tools
- Hood NUC ROS2 rviz
- Hood NUC ROS2 *** TBD *** clean up this page and redistribute
Quick Start Notes
Depreciated Other
- Hood OpenCR 1.0.4 ROS2 Firmware Install or V190730R1
These next steps were based on Raspberry Pi instructions. They didn't work here. So I moved to Melih Erdogan's instructions. See Setup section above.
- Hood OpenCR Waffle Drivers ROS2 Micro XRCE DDS Agent Install (this may also be a part of the next step?)
- Hood Turtlebot3 ROS2
- Hood Install Core Hardware Support
- Hood Turtlebot3 Bringup Test
- Hood Turtlebot3 Bringup Test Still won't work
