# Turtlebot3
###### tags: `Learning Notes`
[source1](https://www.ncnynl.com/archives/201809/2594.html)

## Install Ubuntu Server on raspberry pi
*此次安裝的Ubuntu為Ubuntu Server*，並非平常使用的Ubuntu Desktop，Ubuntu Desktop不支援 rpi 3B只支援4以上，除此之外，Ubuntu mate 雖然支援但也不太能用(主要是因為樹梅派的記憶體ram不夠，導致在使用Ubuntu mate時，畫面很盪、無法使用)，所以使用Ubuntu Server。

* Ubuntu Desktop和Ubuntu Server的主要區別在於桌面環境。Ubuntu Desktop包含圖形使用者介面，但Ubuntu Server不包含。

:::info
Step1: 進到windows電腦裡的磁碟管理，清除磁碟區然後新增磁碟區。
Step2: 去[Ubuntu server與 ros2的安裝包](https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup)這個
turtlebot教學裡面有下載連結，進去把映像檔載下來
Step3: 載rapberry pi imager
Step4:用rapberry pi imager把OS燒進去就可以用了

:::
## Turtlebot3 Ubuntu login
:::info
username: ubuntu
password: turtlebot
:::
## Wifi connection

$ sudo vim /etc/netplan/50-cloud-init.yaml


$sudo netplan -debug generate #沒有跳錯誤訊息則成功
$sudo reboot
$sudo apt-get upgrade #確認是否連上網路
$sudo apt-get update #確認是否連上網路

## Turtlebot3 package on PC

:::info
$ source ~/.bashrc
$ sudo apt install ros-foxy-dynamixel-sdk
$ sudo apt install ros-foxy-turtlebot3-msgs
$ sudo apt install ros-foxy-turtlebot3
:::

## Turtlebot3 burger
### Introdution

**Turtlebot3 Official Tutorial:** https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/#pc-setup

**OpenCR Official tutorial:**
https://emanual.robotis.com/docs/en/parts/controller/opencr10/#communication-protocol

### Set up
**Setup Official tutorial:** (include PC, SBC, OpenCR)
https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/

:information_source: More information about SBC installation:
https://www.twblogs.net/a/5b8cfbee2b71771883385772

### More ROS/Turtlebot3 Tutorial Sources

* [Youtube course(ROS)](https://www.youtube.com/watch?v=1tqYrWqrbC8&list=PLRG6WP3c31_U7TFGduEIJWVtkOw6AJjFf)
* [Youtube course(Turtlebot3)](https://www.youtube.com/watch?v=Z3XHoiA2cXQ&list=PLRG6WP3c31_U7TFGduEIJWVtkOw6AJjFf&index=10)
* [Handbook download](https://community.robotsource.org/t/download-the-ros-robot-programming-book-for-free/51)