Differences

This shows you the differences between two versions of the page.

--- software:tortugabot_ros2 [2025/04/02 14:27] – [Hokuyo LAN Config] s_fuyedc
+++ software:tortugabot_ros2 [2025/04/03 12:01] (current) – [Notes] s_fuyedc
@@ Line 45: / 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|}}
-Dropped connection after a while can be solved by giving a Gateway with 192.168.0.1
 ==== DS3 Controller Bluetooth Setup ====
@@ Line 201: / 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>