For the Ubuntu 20.04 ROS 1 install, go to the old introduction.

• Get Ubuntu 24.04 Desktop
• Prepare a bootable pen drive
• Hit F12 on boot to reach the drive selection

In the GRUB, hit 'e' on the first entry to edit boot parameters. Ubuntu boot needs special parameters for these e485 laptops. Edit the line starting with linux and add ivrs_ioapic[32]=00:14.0 spec_store_bypass_disable=prctl to it, so it says something like this:

linux /casper/vmlinuz --- quiet splash ivrs_ioapic[32]=00:14.0 spec_store_bypass_disable=prctl

This is required on every boot. Without these parameters, Ubuntu will be stuck on boot, showing only a cursor on black. To set them to default, first install Ubuntu as usual, reboot (enter boot params again).

Edit the GRUB config. Edit the grub boot file with root rights

sudo nano /etc/default/grub

Modify GRUB_CMDLINE_LINUX_DEFAULT, copy the parameters above and paste (Ctrl+Shift+V) so it says something like this:

GRUB_CMDLINE_LINUX_DEFAULT="quiet splash ivrs_ioapic[32]=00:14.0 spec_store_bypass_disable=prctl"

Finally, update your GRUB config to make these parameters permanent with.

sudo update-grub

Follow the Debian install guide for ROS 2 Jazzy Jalisco

Use the network 'tortugabot' to get internet and a local WiFi. Ask a colleague for the password. The WiFi is available nearby the robot labs.

When connecting the Hokuyo laser sensor via LAN, the connection must be configured manually. This way, the laptop can directly communicate with the LIDAR. Connect the Battery to the Tortugabot to give power to the Hokuyo LIDAR, then connect it via LAN to this laptop. Open Wired Settings and configure the profile. Set IPv4 to Manual and give it an IP and Submask.

The controller can be set up via cable-pairing.

1. Enable Bluetooth on the laptop and keep the Bluetooth settings open.
2. Connect the controller via Mini-USB with the laptop
3. On the controller, the four red light should now blink.
4. A popup will ask for permission to pair. Accept.
5. Unplug the controller
6. Press the PS button between Start and Select
7. LED 1 should now continuously glow on the controller
8. Bluetooth settings show the paired DS3 controller.

If the Bluetooth client refuses to connect shows a pairing code, disable classic-bond-only. Open up /etc/bluetooth/input.conf and set the parameter ClassicBondedOnly=false.

To test the connection, run the joy controller

ros2 run joy joy_node

and listen to the button feedback in another terminal.

ros2 topic echo /joy