TURTLEBOT3_HARDWARE_SETUP.md

Turtlebot3 Hardware setup

This file includes step by step process to setup and run Turtlebot3 hardware.

SBC Setup :

• From the Turtlebot3 kit you would've got a RaspberryPi 4 (Model B or higher) where you will install the minimal Operating System onto the SD Card (provided in the kit) to run the base code for operating the Robot :

  • In our case the minimal OS is the Ubuntu-22.04.05 LTS Server (64-bit)
  • We need to Flash & install this OS onto RaspberryPi.

• Download RPI imager for flash this OS onto Rpi - RPI image download.

• Connect SD Card to your current system.

• Open RPI Image software and select the following :

  Choose Device --> Raspberry Pi 4
  Choose OS --> Other gerneral-purpose OS --> Ubuntu --> Ubuntu Server 22.04.5 LTS (64-bit) Choose Storage --> Your target storage/SD Card

• Select Next and wait for it to write & verify.

• Here is a video demonstration for this :

SBC_.setup_demo.mp4

Note1: You can install RPI Imager on either windows or Ubuntu, steps will be the same. I would prefer saving the credentials of a local mobile hostspot in case you don't have a local wifi Router.
(Note1: ends here)

• Configuring the RPI OS :

  • Insert SD Card into Rpi, Connect Rpi to Monitor using HDMI Cable and Power the Rpi using Type-C Cable & an adaptor (preferably of higher wattage like 18-45W)

  

  • Login with the username and password that you earlier set in the RPI Image software.
  • Make sure the network (whose credentials you set earlier in the RPI Image software) is already ON.
  • Check if you are connected to a network or not by checking IP Address of you Rpi

  hostname -I

  If it outputs a value, that means you are good to go. If not, then make sure the network is on.

• Installing ROS2-Humble on RPI :

  • Follow this link and write the commands step by step on the RPI - Install ROS2-Humble.
  • Source ROS2 Global environment on RPI

  echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

  • Build turtlebot3 packages on RPI

  sudo apt install python3-argcomplete python3-colcon-common-extensions libboost-system-dev build-essential
  sudo apt install ros-humble-hls-lfcd-lds-driver
  sudo apt install ros-humble-turtlebot3-msgs
  sudo apt install ros-humble-dynamixel-sdk
  sudo apt install libudev-dev
  mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src
  git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3.git
  git clone -b humble https://github.com/ROBOTIS-GIT/ld08_driver.git
  cd ~/turtlebot3_ws/src/turtlebot3
  rm -r turtlebot3_cartographer/ turtlebot3_navigation2/ turtlebot3_example/
  cd ~/turtlebot3_ws/
  colcon build --parallel-workers 1
  echo "source ~/turtlebot3_ws/install/setup.bash" >> ~/.bashrc
  source ~/.bashrc

• Run these commands to set PORT for OPENCR setup :

  sudo cp `ros2 pkg prefix turtlebot3_bringup`/share/turtlebot3_bringup/script/99-turtlebot3-cdc.rules /etc/udev/rules.d/
  sudo udevadm control --reload-rules
  sudo udevadm trigger

• Export the turtlebot3 domain id (must be same as that of your Remote PC) :

  echo "export ROS_DOMAIN_ID=13 #TURTLEBOT3" >> ~/.bashrc
  source ~/.bashrc

• Export the LDS (Laser Distance Sensor) Model for Turtlebot3 (Current updated version is LDS-02) :

  echo 'export LDS_MODEL=LDS-02' >> ~/.bashrc
  source ~/.bashrc

• Export the TURTLEBOT3_MODEL environment variable :

  echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
  source ~/.bashrc

  Here i'm uring burger, in your case it might be a waffle or waffle_pi.

Bringup Test :

1. Make sure both your Remote PC & Turtlebot3 Rpi are connected to same wifi network.

2. SSH into your RPI from your Remote PC's ubuntu-22 terminal.

3. Run bringup file :

   ros2 launch turtlebot3_bringup robot.launch.py

   The log of this file should look like something like this

   

Here, I'm running burger (TURTLEBOT3_MODEL)

4. Open another tab of the terminal and run :

   ros2 topic list

   It should output topics similar to this

   

5. Run rviz to visualize the robot :

   ros2 launch turtlebot3_bringup rviz2.launch.py

6. Teleoperate the robot :

   ros2 run turtlebot3_teleop teleop_keyboard