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###### tags: `vsclab` `turtlebot` `ubuntu` `ros` `raspberry pi`
# TurtleBot3 Setup

:::spoiler 文章目錄
[toc]
:::

---
:::warning
* [Install TP-link TL-WN725N USB wifi driver on Ubuntu 20.04](https://askubuntu.com/a/1356730)
* 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](https://hackmd.io/Ah_pIkbvQ-OqW9vd1amglw)
- [TurtleBot 3 Quick Guide](https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/#pc-setup)

## 🍒Raspberry Pi: connect to the Internet
:::warning
若使用<span class="red">手機熱點</span>，請將頻寬設定成 <span class="red">**2.4 GHz**</span>
:::
#### 1. Open Configuration File

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

#### 2. Edit Configuration File

##### 2-1. For Wi-Fi
* [See Example](https://linuxconfig.org/how-to-configure-static-ip-address-on-ubuntu-18-04-bionic-beaver-linux)
* [Multiple SSID Example](https://askubuntu.com/questions/1245253/set-multiple-wifi-access-points-in-ubuntu-20-04)
* 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-%E9%80%8F%E9%81%8E-netplan-%E8%A8%AD%E5%AE%9A%E7%B6%B2%E8%B7%AF%E5%8D%A1-ip.html
* 注意**子網路遮罩**的格式需要轉換
https://www.calculator.net/ip-subnet-calculator.html

##### :page_facing_up: 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](https://linuxhint.com/check-internet-connectivity-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
:::info
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?](https://serverfault.com/a/241593)

# Raspberry Pi 相關
## :battery: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](https://emanual.robotis.com/docs/en/parts/controller/opencr10/#specifications)
* [論壇討論](https://answers.ros.org/question/359856/turtlebot3-wired-power-operation/)
:::danger
**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**
:::
<!-- * https://goodspeedlee.blogspot.com/2018/04/raspberry-pi.html -->

# Day 2-3 | ROS
## Install ROS & ros_menu
* [Official](http://wiki.ros.org/noetic/Installation/Ubuntu)
* [Adlink/ros_menu](https://github.com/Adlink-ROS/ros_menu)
:::warning
<span class="red">Server 啟動 ros1 遇到 $shell 名稱錯誤問題</span>
`/tmp/host_sourcefile.txt:source:3: 沒有此一檔案或目錄: /opt/ros/noetic/setup./usr/bin/zsh`
<!-- shell=`cat /proc/$$/cmdline | tr -d '\0' | tr -d '-'` -->

<span class="sol">Solution:</span>
重新定義`/proc/$$/cmdline` PID執行緒參數
1. For Terminal
2. For tmux

:::
* [連線埠查詢](https://askubuntu.com/questions/9368/how-can-i-see-what-ports-are-open-on-my-machine)

    $ sudo netstat -ntlp

## Run Example Code
* [TurtleBot3 Bringup](https://emanual.robotis.com/docs/en/platform/turtlebot3/bringup/#bringup)
:::warning
<span class="red"> [sensor_msgs/BatteryState] 問題 </span>
`[ERROR] [1642758400.659716]: Creation of publisher failed: Checksum does not match: 4ddae7f048e32fda22cac764685e3974,476f837fa6771f6e16e3bf4ef96f8770`
<span class="sol"> Solution: </span>
[OpenCR 的版本必須與 PC 的 ROS 相同](https://discourse.ros.org/t/turtlebot3-software-and-firmware-update-and-waffle-pi/3729/4)
:::

# ==ROS 2== foxy for TB3
## Install ros2 & ros_menu <span class="red">on SBC</span>
* [Foxy > Click to expand : Manual SBC Setup Instructions](https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup)
<!-- * [Install ROS2 Foxy on Raspberry Pi 4](https://roboticsbackend.com/install-ros2-on-raspberry-pi/) -->
* [Adlink/ros_menu](https://github.com/Adlink-ROS/ros_menu)

## Communicate with Windows using PuTTY
* [Download PuTTY](https://www.putty.org/)
:::warning
<span class="red">如何在 PuTTY 對 tmux 視窗貼上</span>
<span class="sol"> Solution:</span>
[Press shift](https://superuser.com/questions/1410591/how-to-paste-when-using-tmux-on-a-remote-server-with-putty)
:::

## :+1: Communicate with Windows using Bitvise SSH
* [Download Bitvise SSH](https://www.bitvise.com/ssh-client-download)
* 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](https://jepeloa.medium.com/connect-ps3-joystick-to-raspberry-4b-with-ros-6c4603f2c752)
### Wireless PS2
{%youtube gshsbqfgJmE %}
* https://pinout.xyz/pinout/pin1_3v3_power
#### GPIO Library Installation
* [GPIO 簡介](https://medium.com/geekculture/gpio-programming-on-the-raspberry-pi-python-libraries-e12af7e0a812)
* [Pin 接線圖](http://wiringpi.com/download-and-install/)
* https://atceiling.blogspot.com/2014/02/raspberry-pi-wiringpi-gpio.html
:::warning
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](https://blog.xuite.net/e613011/book/588868619)
* [e-Manual](https://emanual.robotis.com/docs/en/platform/turtlebot3/teleoperation/#xbox-360-joystick)
* [ROS使用XBOX ONE 手柄](https://www.cnblogs.com/lizhensheng/p/11117708.html)
* {%youtube 4cSRdS83PX4 %}
* [樹梅派藍芽設定](https://medium.com/@r3850355/%E7%94%A8-raspberry-pi-4-%E4%BE%86%E5%81%9A-line-beacon-%E5%9B%9B-%E8%A8%AD%E5%AE%9A%E8%97%8D%E7%89%99-e06901d0602a)

### ROS Library
* [teleop_twist_joy](https://index.ros.org/p/teleop_twist_joy/github-ros2-teleop_twist_joy/)
* [teleop_twist_joy](http://wiki.ros.org/teleop_twist_joy)

# Pi Camera Module install on TB3 burger
## Hardware Installation Tutorial
{%youtube VzYGDq0D1mw %}
* See [TurtleBot3 Waffle Pi 3D Model](https://emanual.robotis.com/docs/en/platform/turtlebot3/features/#open-source-hardware)

## System Settings
### Install `raspi-config`
* [Follow this instruction](https://github.com/EmilGus/install_raspi-config)

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

### Enable Camera Module
:::warning
<span class="red"> [Your firmware appears to be out of date (no start_x.elf). Please update] 問題 </span>
<span class="sol"> Solution: </span>
[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](https://blog.csdn.net/qq_34493401/article/details/107672691)

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

:::

## Take a photo
### Camera Module with Raspberry Pi4
{%youtube 0hrF8Wq8SSQ %}

$ 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](https://github.com/UbiquityRobotics/raspicam_node/tree/noetic-devel#build-instructions)

### Run `raspicam` Node
* [Run raspicam Node](https://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_raspi_cam/#run-raspicam-node)