tags: vsclab turtlebot ubuntu ros raspberry pi

TurtleBot3 Setup

文章目錄

• TurtleBot3 Setup
  • 🍒Raspberry Pi: connect to the Internet
  • 固定裝置的 DHCP 位址
    • 1. 查詢 TurtleBot 的 MAC 位址
    • 2. 更改分享器設定
  • SSH Login Automatically
• Raspberry Pi 相關
  • 電源方面
• Day 2-3 | ROS
  • Install ROS & ros_menu
  • Run Example Code
• ROS 2 foxy for TB3
  • Install ros2 & ros_menu on SBC
  • Communicate with Windows using PuTTY
  • Communicate with Windows using Bitvise SSH
  • MATLAB ROS Toolbox
  • Joysticks x Raspberry Pi
    • Wiring PS3
    • Wireless PS2
    • Xbox
    • ROS Library
• Pi Camera Module install on TB3 burger
  • Hardware Installation Tutorial
  • System Settings
    • Install raspi-config
    • Enable Camera Module
  • Take a photo
    • Camera Module with Raspberry Pi4
  • Use ROS
    • Install ROS Package raspicam (TurtleBot)
    • Run raspicam Node

---

• Install TP-link TL-WN725N USB wifi driver on Ubuntu 20.04
• Ubuntu 20.04 需要額外安裝套件才有 ifconfig
  ​​​​$ sudo apt install net-tools
  

• 查看是否已安裝 ROS 套件
  ​$ dpkg --list | grep ROS
  

• 品瑄版本
• TurtleBot 3 Quick Guide

🍒Raspberry Pi: connect to the Internet

若使用手機熱點，請將頻寬設定成 2.4 GHz

1. Open Configuration File

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

2. Edit Configuration File

2-1. For Wi-Fi

• See Example

• Multiple SSID Example

  • To select the wifi, first show the wifi list
  ​​​​$ sudo wpa_cli -i wlan0 list_networks
  

  • it will show you the network_id and network_ssid, then select by network_id.
  ​​​​$ sudo wpa_cli -i wlan0 select_network network_id
  

2-2. For Static IP

• 請參考此格式 https://blog.toright.com/posts/6293/ubuntu-18-04-透過-netplan-設定網路卡-ip.html
• 注意子網路遮罩的格式需要轉換 https://www.calculator.net/ip-subnet-calculator.html

Netplan Example /etc/netplan/50-cloud-init.yaml

# This file is generated from information provided by the datasource.  Changes
# to it will not persist across an instance reboot.  To disable cloud-init's
# network configuration capabilities, write a file
# /etc/cloud/cloud.cfg.d/99-disable-network-config.cfg with the following:
# network: {config: disabled}
network:
  version: 2
  renderer: networkd
  ethernets:
    eth0:
      dhcp4: no
      addresses: [140.116.215.151/27]
      gateway4: 140.116.215.157
      nameservers:
              addresses: [8.8.8.8]
  wifis:
    wlan0:
      dhcp4: yes
      dhcp6: yes
      access-points:
        "VSCLAB":
          password: "VSCLAB-pwd"
    wlan0:
      dhcp4: yes
      dhcp6: yes
      access-points:
         "rubato_phone":
          password: "rubato_phone-pwd"

3. Apply Changes

$ sudo netplan --debug apply # more details
# or
$ sudo netplan apply
# or (for ssh user)
$ sudo netplan try # apply only 120 sec then restore

4. Confirm IP Address

$ ip a  # IP address
$ ip r  # default gateway IP address

5. Check Internet Connectivity in Linux Terminal

Method 1: PING Command

$ ping -c 3 google.com

Method 2: CURL Command

$ curl -I https://linuxhint.com/

固定裝置的 DHCP 位址

每次裝置重新連線時，分享器會再重新分配 IP，導致 ROS IP 也要跟著重新設定 若希望固定 IP 位址，請參考以下教學

1. 查詢 TurtleBot 的 MAC 位址

2. 更改分享器設定

1. 使用 Wi-Fi 或是有線網路連到分享器
2. 打開瀏覽器，網址列輸入192.168.1.1
3. 登入分享器設定（帳密請洽網管）
4. DHCP伺服器＞保留指定IP位址＞新增
5. 系統工具＞重新開機

SSH Login Automatically

• How to automate SSH login with password?

Raspberry Pi 相關

電源方面

進行長時間操作建議不要使用電池(例如：更新軟體、重灌系統)

• OpenCR 電源規格表
• 論壇討論

結論： SMPS (12V 5A) 與 Battery (11.1V) 不能同時供電！一次僅能使用一個電源輸入

Day 2-3 | ROS

Install ROS & ros_menu

• Official
• Adlink/ros_menu

  Server 啟動 ros1 遇到 $shell 名稱錯誤問題 /tmp/host_sourcefile.txt:source:3: 沒有此一檔案或目錄: /opt/ros/noetic/setup./usr/bin/zsh

  Solution: 重新定義/proc/$$/cmdline PID執行緒參數

  1. For Terminal
  2. For tmux
• 連線埠查詢
  ​​​​$ sudo netstat -ntlp
  

Run Example Code

• TurtleBot3 Bringup

[sensor_msgs/BatteryState] 問題 [ERROR] [1642758400.659716]: Creation of publisher failed: Checksum does not match: 4ddae7f048e32fda22cac764685e3974,476f837fa6771f6e16e3bf4ef96f8770 Solution: OpenCR 的版本必須與 PC 的 ROS 相同

ROS 2 foxy for TB3

Install ros2 & ros_menu on SBC

• Foxy > Click to expand : Manual SBC Setup Instructions

• Adlink/ros_menu

Communicate with Windows using PuTTY

• Download PuTTY

如何在 PuTTY 對 tmux 視窗貼上 Solution: Press shift

Communicate with Windows using Bitvise SSH

• Download Bitvise SSH
  • 有 GUI 介面可直接複製、瀏覽 Server、Client 檔案

MATLAB ROS Toolbox

Joysticks x Raspberry Pi

Wiring PS3

• Connect PS3 Joystick to Raspberry 4b with ROS

Wireless PS2

• https://pinout.xyz/pinout/pin1_3v3_power

GPIO Library Installation

• GPIO 簡介
• Pin 接線圖
• https://atceiling.blogspot.com/2014/02/raspberry-pi-wiringpi-gpio.html

由於 GPIO 原作者 Gordon 已不再維護，請使用 git clone https://github.com/WiringPi/WiringPi

Xbox

• Xbox搖桿選購
• e-Manual
• ROS使用XBOX ONE 手柄
• 樹梅派藍芽設定

ROS Library

• teleop_twist_joy
• teleop_twist_joy

Pi Camera Module install on TB3 burger

Hardware Installation Tutorial

• See TurtleBot3 Waffle Pi 3D Model

System Settings

Install raspi-config

• Follow this instruction

$ git clone https://github.com/EmilGus/install_raspi-config
$ cd install_raspi-config
$ sudo sh install.sh

Enable Camera Module

[Your firmware appears to be out of date (no start_x.elf). Please update] 問題 Solution: 树莓派通过raspi-config启动摄像头时，出错:Your firmwave appears to be out of date (no start_x.elf). Please update

$ df -h
$ sudo mount /dev/mmcblk0p1 /boot
$ sudo raspi-config

Take a photo

Camera Module with Raspberry Pi4

$ vcgencmd get_camera
> supported=1 detected=1 # success
$ ls /dev/video*

# raspistill
$ sudo apt install libraspberrypi-bin
$ raspistill -v
$ sudo modprobe bcm2835-v4l2
$ sudo raspistill -o test.jpg

# fswebcam
$ sudo apt-get install fswebcam
$ sudo fswebcam image.jpg
$ sudo fswebcam /dev/video10 image.jpg

Use ROS

Install ROS Package raspicam (TurtleBot)

• Github: raspicam_node/Build Instructions

Run raspicam Node

• Run raspicam Node