Bringup

Bringup TurtleBot3

1. Open a new terminal on the remote PC with Ctrl + Alt + T and connect to the Raspberry Pi via SSH using its IP address.
   Enter your password of Ubuntu OS in Raspberry pi .
   [Remote PC]

   $ ssh ubuntu@{IP_ADDRESS_OF_RASPBERRY_PI}
   

2. Bring up basic packages to start essential TurtleBot3 applications. You will need to specify your specific TurtleBot3 model.
   [TurtleBot3 SBC]

   $ export TURTLEBOT3_MODEL=burger
   $ ros2 launch turtlebot3_bringup robot.launch.py
   

3. When the TURTLEBOT3_MODEL is set to burger, the terminal output will look like the output below:
   [TurtleBot3 SBC]

   $ export TURTLEBOT3_MODEL=burger
   $ ros2 launch turtlebot3_bringup robot.launch.py
   [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2019-08-19-01-24-19-009803-ubuntu-15310
   [INFO] [launch]: Default logging verbosity is set to INFO
   urdf_file_name : turtlebot3_burger.urdf
   [INFO] [robot_state_publisher-1]: process started with pid [15320]
   [INFO] [hlds_laser_publisher-2]: process started with pid [15321]
   [INFO] [turtlebot3_ros-3]: process started with pid [15322]
   [robot_state_publisher-1] Initialize urdf model from file: /home/ubuntu/turtlebot_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
   [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!
   [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]: 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!
   

4. Topics and services can be listed with the commands below.
   • The Remote PC can subscribe topics published by the Turtlebot3 SBC by connecting both to the same network environment.
   1. Check that the Remote PC and TurtleBot3 SBC have the same ROS_DOMAIN_ID. They must have the same ROS_DOMAIN_ID.
      [Remote PC],[TurtleBot3 SBC]

       export ROS_DOMAIN_ID=30  
      

   2. Check that the Remote PC and TurtleBot3 SBC have the same RMW(ROS Middleware) implementation.
      [Remote PC],[TurtleBot3 SBC]

       export RMW_IMPLEMENTATION=rmw_fastrtps_cpp  
      

   3. Check that your wifi router supports multi cast. If it does, configure your router to permit multi cast.
5. The List of topics and services may vary depending on your installed ROS package version.
   • Topic list

     $ ros2 topic list
     /battery_state
     /cmd_vel
     /imu
     /joint_states
     /magnetic_field
     /odom
     /parameter_events
     /robot_description
     /rosout
     /scan
     /sensor_state
     /tf
     /tf_static
     

   • Service list

     $ 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
     /hlds_laser_publisher/describe_parameters
     /hlds_laser_publisher/get_parameter_types
     /hlds_laser_publisher/get_parameters
     /hlds_laser_publisher/list_parameters
     /hlds_laser_publisher/set_parameters
     /hlds_laser_publisher/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
     /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
     

Bringup

Run roscore

Run roscore on the remote PC.
[Remote PC]

$ roscore

Bringup TurtleBot3

1. Open a new terminal on the remote PC with Ctrl + Alt + T and connect to Raspberry Pi using SSH.
   The default password is turtlebot.
   [Remote PC]

   $ ssh ubuntu@{IP_ADDRESS_OF_RASPBERRY_PI}  
   

2. Bring up basic packages to start the required TurtleBot3 applications.
   [Turtlebot3 SBC]

   $ export TURTLEBOT3_MODEL=${TB3_MODEL}
   $ roslaunch turtlebot3_bringup turtlebot3_robot.launch
   

3. If the TurtleBot3 model is burger, the terminal will print the messages below.
   [Turtlebot3 SBC]

    SUMMARY
    ========
   
    PARAMETERS
    * /rosdistro: noetic
    * /rosversion: 1.15.8
    * /turtlebot3_core/baud: 115200
    * /turtlebot3_core/port: /dev/ttyACM0
    * /turtlebot3_core/tf_prefix:
    * /turtlebot3_lds/frame_id: base_scan
    * /turtlebot3_lds/port: /dev/ttyUSB0
   
    NODES
    /
        turtlebot3_core (rosserial_python/serial_node.py)
        turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
        turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)
   
    ROS_MASTER_URI=http://192.168.1.2:11311
   
    process[turtlebot3_core-1]: started with pid [14198]
    process[turtlebot3_lds-2]: started with pid [14199]
    process[turtlebot3_diagnostics-3]: started with pid [14200]
    [INFO] [1531306690.947198]: ROS Serial Python Node
    [INFO] [1531306691.000143]: Connecting to /dev/ttyACM0 at 115200 baud
    [INFO] [1531306693.522019]: Note: publish buffer size is 1024 bytes
    [INFO] [1531306693.525615]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]
    [INFO] [1531306693.544159]: Setup publisher on version_info [turtlebot3_msgs/VersionInfo]
    [INFO] [1531306693.620722]: Setup publisher on imu [sensor_msgs/Imu]
    [INFO] [1531306693.642319]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]
    [INFO] [1531306693.687786]: Setup publisher on odom [nav_msgs/Odometry]
    [INFO] [1531306693.706260]: Setup publisher on joint_states [sensor_msgs/JointState]
    [INFO] [1531306693.722754]: Setup publisher on battery_state [sensor_msgs/BatteryState]
    [INFO] [1531306693.759059]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]
    [INFO] [1531306695.979057]: Setup publisher on /tf [tf/tfMessage]
    [INFO] [1531306696.007135]: Note: subscribe buffer size is 1024 bytes
    [INFO] [1531306696.009083]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
    [INFO] [1531306696.040047]: Setup subscriber on sound [turtlebot3_msgs/Sound]
    [INFO] [1531306696.069571]: Setup subscriber on motor_power [std_msgs/Bool]
    [INFO] [1531306696.096364]: Setup subscriber on reset [std_msgs/Empty]
    [INFO] [1531306696.390979]: Setup TF on Odometry [odom]
    [INFO] [1531306696.394314]: Setup TF on IMU [imu_link]
    [INFO] [1531306696.397498]: Setup TF on MagneticField [mag_link]
    [INFO] [1531306696.400537]: Setup TF on JointState [base_link]
    [INFO] [1531306696.407813]: --------------------------
    [INFO] [1531306696.411412]: Connected to OpenCR board!
    [INFO] [1531306696.415140]: This core(v1.2.1) is compatible with TB3 Burger
    [INFO] [1531306696.418398]: --------------------------
    [INFO] [1531306696.421749]: Start Calibration of Gyro
    [INFO] [1531306698.953226]: Calibration End