Differences

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--- software:tortugabot_ros2 [2025/04/01 16:19] – [Hokuyo Lidar] s_fuyedc
+++ software:tortugabot_ros2 [2025/04/03 12:01] (current) – [Notes] s_fuyedc
@@ Line 3: / Line 3: @@
 For the Ubuntu 20.04 ROS 1 install, go to [[software:tortugabot_ros1_noetic|the ROS1 Noetic setup]].
+Tor the hardware status of the Turtles [[https://hackmd.informatik.uni-bremen.de/s/hIPaEeXeB#|go here]].
 ==== Install Ubuntu 24.04 on ThinkPad e485 AMD Ryzen 5 ====
   * Get [[https://releases.ubuntu.com/noble/|Ubuntu 24.04]] Desktop
@@ Line 44: / Line 45: @@
 ==== Hokuyo LAN Config ====
-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.
+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. Without the Gateway the connection is dropped after a while.
-{{:software:hokuyo_setup.png?800|}}
+{{:software:hokuyo_w_gateway.png?800|}}
 ==== DS3 Controller Bluetooth Setup ====
-The controller can be set up via cable-pairing.
+Open up ''/etc/bluetooth/input.conf'' and set the parameter ''ClassicBondedOnly=false'' [[https://bugs.launchpad.net/ubuntu/+source/bluez/+bug/2045931|disable classic-bond-only]]. Otherwise pairing requires to affirm a code. Reboot the laptop to activate the change.
+Now the controller can be paried with the Mini-USB cable.
   - Enable Bluetooth on the laptop and keep the Bluetooth settings open.
@@ Line 61: / Line 64: @@
   - Bluetooth settings show the paired DS3 controller.
-If the Bluetooth client refuses to connect shows a pairing code, [[https://bugs.launchpad.net/ubuntu/+source/bluez/+bug/2045931|disable classic-bond-only]]. Open up ''/etc/bluetooth/input.conf'' and set the parameter ''ClassicBondedOnly=false''.
 To test the connection, run the joy controller
@@ Line 166: / Line 169: @@
 Hold R1 to unlock movement. Left stick is forwards and backwards, right stick is for left and right. The wheels should move only when the sticks are pressed together with R1. When issues arise reboot the roboclaw.
+===== Rviz visualization =====
+Add this line into the .bashrc
+<code>
+export QT_QPA_PLATFORM=xcb rviz2
+</code>
 Check the odometry calculation in rviz
@@ Line 172: / Line 182: @@
 </code>
-In **Global Options** set **Fixed Frame** from to **odom**. Add TF to see the broadcast between odom and base_footprint.
+In **Global Options** set **Fixed Frame** to **odom**. Add TF to see the broadcast between odom and base_footprint.
 Also see the [[https://docs.google.com/document/d/1T9TJlYZ0sh8qjM5nl73Uu9BC2AglTGRBIhWdxQ5b6yU/edit?usp=sharing|documentation of Minnie on the ROS2 port of Roboclaw]].
@@ Line 178: / Line 188: @@
 ===== Hokuyo Lidar =====
-Datasheets
+Datasheets: {{ :software:ust-10lx_specification.pdf |Specification}}, and {{ :software:ust-10lx_20lx_scip_specifications_c-42-04076.pdf |Communication}}
-Specification: https://www.generationrobots.com/media/Hokuyo%20UST-10LX/UST-10LX_Specification.pdf
-Communication: https://www.generationrobots.com/media/Hokuyo%20UST-10LX/UST-10LX_20LX_SCIP_specifications_C-42-04076.pdf
 <code>
@@ Line 193: / Line 200: @@
 source install/setup.bash
 ros2 launch urg_node2 urg_node2.launch.py
-ros2 run tf2_ros static_transform_publisher --frame-id odom --child-frame-id laser
+ros2 run tf2_ros static_transform_publisher --frame-id base_footprint --child-frame-id laser
-ros2 run robot_state_publisher robot_state_publisher /opt/ros/jazzy/share/urg_node/launch/hokuyo_laser.urdf
 </code>
+===== Notes =====
+<code>
+# Install ROS2
+# ssh to turtle
+sudo apt update
+sudo apt upgrade
+nano .bashrc
+# into .bashrc
+source /opt/ros/jazzy/setup.bash
+export ROS_DOMAIN_ID=6 # for tortuga6
+###
+# Connect joy teleop bluetooth
+sudo vim /etc/bluetooth/input.conf
+# and set the parameter ClassicBondedOnly=false
+# Add user to dialout
+sudo adduser $USER dialout
+sudo adduser $USER roscourse
+sudo adduser roscourse dialout
+#reboot
+ros2 run joy joy_node
+# output: Dual Shock Controller recognized
+ros2 topic echo /joy
+###
+</code>
+Install ROS tools, init rosdep and give sudo user arthur access to roscourse files.
+<code>
+# user: sudo
+sudo apt install ros-dev-tools ros-jazzy-topic-tools
+sudo rosdep init
+</code>
+Set up workspace on turtle
+<code>
+# user: roscourse
+mkdir -p ~/tortugabot_ws/src
+cd ~/tortugabot_ws/src
+</code>
+Get repositories
+<code>
+# user: roscourse
+curl https://raw.githubusercontent.com/code-iai/tortugabot/refs/heads/ros2/tortugabot.repos > tortugabot.repos
+vcs import --recursive < tortugabot.repos
+rosdep update
+</code>
+Install dependencies
+<code>
+# user: sudo
+rosdep install -i --from-path /home/roscourse/tortugabot_ws/src --rosdistro jazzy
+</code>
+Build the workspace and source the executables.
+<code>
+# user: roscourse
+cd ~/tortugabot_ws
+colcon build
+source install/setup.bash
+echo 'source /home/roscourse/tortugabot_ws/install/setup.bash' >> ~/.bashrc
+</code>
+Run the nodes in separate terminals
+<code>
+# roboclaw
+ros2 launch roboclaw_node roboclaw_launch.py
+# joy
+ros2 launch roboclaw_node joy_teleop_launch.xml
+# laser
+ros2 launch urg_node2 urg_node2.launch.py
+# Throttle laser frequency to 10 hz
+ros2 run topic_tools throttle messages /scan 10.0
+# transform base_footprint < laser
+ros2 run tf2_ros static_transform_publisher --frame-id base_footprint --child-frame-id laser
+</code>