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--- software:tortugabot_ros2 [2025/04/03 09:50] – [Notes] s_fuyedc
+++ software:tortugabot_ros2 [2025/11/27 11:01] (current) – [Workspace Setup for roscourse user] s_fuyedc
@@ Line 49: / Line 49: @@
 {{:software:hokuyo_w_gateway.png?800|}}
+If the Hokuyo is reset to factory defaults, put the IPv4 Address to 192.168.0.1 instead.
 ==== DS3 Controller Bluetooth Setup ====
@@ Line 188: / Line 189: @@
 ===== Hokuyo Lidar =====
-Datasheets: {{ :software:ust-10lx_specification.pdf |Specification}}, and {{ :software:ust-10lx_20lx_scip_specifications_c-42-04076.pdf |Communication}}
+Datasheets: {{ :software:ust-10lx_specification.pdf |Specification}}, and {{ :software:ust-10lx_20lx_scip_specifications_c-42-04076.pdf |Communication}}, and {{ :software:ip_discovery_2.1rev.84.zip |IP Discovery tool}} from [[https://www.hokuyo-aut.jp/search/single.php?serial=167#download|Hokuyo]].
@@ Line 202: / Line 203: @@
 ros2 run tf2_ros static_transform_publisher --frame-id base_footprint --child-frame-id laser
 </code>
+If the Hokuyo is reset to factory defaults (like for Tortugabot 4), change the IP in 'tortugabot_ws/urg_node2/config/params_ether.yaml' to '192.168.0.10'.
-===== Notes =====
+===== Workspace Setup for roscourse user =====
-<code>
+The students will work on user roscourse with pw 10293847. They do not have sudo rights. Install ROS tools, init rosdep and give sudo user arthur access to roscourse files to install the dependencies for the roscourse user.
-# 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 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
-# allow sudo user arthur to see roscourse directories
-sudo adduser arthur roscourse
 sudo rosdep init
 </code>
@@ Line 270: / Line 237: @@
 <code>
 # user: sudo
-rosdep install -i --from-path /home/roscourse/tortugabot_ws/src --rosdistro jazzy
+sudo rosdep install -i --from-path /home/roscourse/tortugabot_ws/src --rosdistro jazzy
 </code>