Turtlebot3 Rasberry pi

Installation manual of turtlebot3 with Raspberry pi

Installation

Prerequisites

Turtlebot3, Raspberry pi, OpenCR board (all things are packaged in a Turtlebot3 box)

Basic installation

• Assemble Turtlebot3, Raspberry pi and OpenCR through manual.

• Boot Raspberry pi with micro SDCard.
  

  • There is a 8GB micro SDCard in a Turtlebot3 box.
     * SDCard is empty. Need download UBUNTU-MATE 16.04 for raspberry pi installation.
    
    • Install UBUNTU-MATE, Rasberry pi setup
      

• Follow Remote PC setup.

• Make sure ROS packages are properly installed to Raspberry pi and Remote PC.
  

  • If "catkin_make" command is completed without any errors, ROS is well installed.

Network configuration

• Turtlebot3 can be connected to remote PC by wifi networks or ethernet cable.
  
• To drive ROS for both components, they need to know other's ip network
  by setting "ROS_MASTER_URI" and "ROS_IP" at "~/.bashrc".
  
• Turtlebot3 or Remote PC both can be "ROS_MASTER_URI".
  

#### Remote PC master
At Remote PC "~/.bashrc", add
ROS_MASTER_URI=http://IP_OF_REMOTE_PC:11311
ROS_IP=IP_OF_REMOTE_PC

At turtlebot3 "~/.bashrc", add
ROS_MASTER_URI=http://IP_OF_REMOTE_PC:11311
ROS_IP=IP_OF_TURTLEBOT3

#### Turtlebot3 master
At Remote PC "~/.bashrc", add
ROS_MASTER_URI=http://IP_OF_TURTLEBOT3:11311
ROS_IP=IP_OF_REMOTE_PC

At turtlebot3 "~/.bashrc", add
ROS_MASTER_URI=http://IP_OF_TURTLEBOT3:11311
ROS_IP=IP_OF_TURTLEBOT3

• Make sure "http://" is only prefixed for "ROS_MASTER_URI". "http://" should not be added to "ROS_IP" and "ROS_HOSTNAME"

• Connection by wifi networks
  

  • For Linux installed Remote PC, need to setup UBUNTU HOTSPOT to communicate only with turtlebot3.
    
  • After ubuntu hotspot setup, connect turtlebot3 to hidden wifi networks created by Remote PC.
    
  • Check ip address of Remote PC and turtlebot3 by "ifconfig" command.
    

• Connection by ethernet
  

  • Connect Remote PC and raspberry pi by ethernet cable.
    
  • At Remote PC ethernet configuration, ipv4 window, set connection mode as "share with other computers".
    
    • This makes Remote PC and turtlebot3 connected by ethernet cable.
  • Check ip address of Remote PC and turtlebot3 by "ifconfig" command.
    

• Check connection by ssh command. If connection is successfully setup, you can access to turtlebot3 with turtlebot3 ip address.

  • Do not need connect monitor, keyboard and mouse to turtlebot3 anymore!

  ssh turtlebot3_name@IP_OF_TURTLEBOT3
  

OpenCR setup with Arduino

• OpenCR setup,
  

  • Make sure jump_to_fw text be printed.
    
  • Do not need to install Arduino on raspberry pi. Install Arduino on your Remote PC. Arduino setup(
    
  • Connect OpenCR to your Remote PC and run Arudino on your Remote PC.

• Before uploading Examples/turtlebot3/turtlebot3_model/turtlebot3_core,
  need to setup first DYNAMIXEL firmware on OpenCR.
  

  • If not, DYNAMIXEL will not move at all.

• In Arduino window, go to Examples/turtlebot3/turtlebot3_setup/turtlebot3_motor_setup and upload.
  

  • When setup DYNAMIXEL, need to connect only one DYNAMIXEL to OpenCR.
    Motor_setup firmware can not find two DYNAMIXELs at the same time.
     * Open serial monitor and check each DYNAMIXEL motor work successfully.
  • After setup two DYNAMIXELs, connect both DYNAMIXELs to OpenCR and upload turtlebot3_core.
  • After that, connect OpenCR to raspberry pi.

Move Turtlebot3

Bringup Turtlebot3

To move Turtlebot3, need to do bringup first to Turtlebot3

• Run roscore at master node
  • If roscore gives an error, check "ROS_MASTER_URI" and "ROS_IP" in ~/.bashrc at Remote PC and Turtlebot3.
  • roscore must be executed when you connect Turtlebot3 and Remote PC.

  roscore
  

• Bring up turtlebot3

roslaunch turtlebot3_bringup turtlebot3_robot.launch

• Teleoperation with keyboard or joystick
  • When teleoperate with joystick, make sure joystic well connected via <ls /dev/input/js*> command

ROSTOPIC

• If connection is well established, you can check rostopic list after executing roscore and bringup

rostopic list

• Can check rostopic value at Remote PC

rostopic echo /cmd_vel

Setup webcam to raspberry pi

• Install usb_cam ros package
  • Make sure web cam is well connected via <ls /dev/video>* command

  cd ~/catkin_ws/src
  git clone https://github.com/bosch-ros-pkg/usb_cam.git
  cd ..
  catkin_make(build again)
  

Test usb_cam before connect Remote PC

• Set ROS_MASTER_URI and ROS_HOSTNAME as localhost

At turtlebot3 "~/.bashrc", 
ROS_MASTER_URI=http://localhost:11311
ROS_HOSTNAME=localhost

• Run ROS
  • usb_cam-test.launch file is located at ~/catkin_ws/src/usb_cam/launch/usb_cam-test.launch.
  • Do not need to execute roscore when you do roslaunch. Launch file will execute roscore itself.
  • Camera image window will be popped up.

  roslaunch usb_cam usb_cam-test.launch
  

• Compressed image for fast transferring.
  
  • Need to execute roscore first when you do rosrun. rosrun just execute node.

  sudo apt-get install ros-kinetic-compressed-image-transport
  roscore
  rosrun iamge_view image_view image:=/usb_cam/image_raw _transport:=compressed
  

Multiple web cams

• Check web cams are well connected

  • May be /dev/video0, /dev/video1, /dev/video2...

• Launch file should be edited. Distinguishing cameras by group.

• Check usb_cam_multi_cam.launch file.

Reference

1. Turtlebot3 emanual
2. Robotics blog