This folders contains useful scripts to bring up turtlebot3 waffle.
Panorama works only if raspicam package is installed. Click here to see how to configure and/or install it. [Needs to be tested on turtlebot3]
- 08hostpc_navigation_map.sh
- 09hostpc_rviz_navigation_map.sh
- 10hostpc_save_map.sh
- 11turtlebot_bringup_picamera.sh
- 12hostpc_panorama.sh
- 13hostpc_start_panorama_demo.sh
- 14hostpc_view_image.sh
- A wireless network
- A turtlebot configured as described here
- Ubuntu on intel joule must connect automatically to a wireless network and get always the always the same ip address (dhcp or static)
- Boot the joule with a monitor connected
- Use network manager and connect to the wireless network (setting a static ip optionally)
- Reboot with monitor and check if the board connects automatically (optional)
- Turn off and disconnect monitor
If using dynamic IP address (like us in our network) there is a simple way to get joule's ip address without a monitor:
- with joule turned on connect the host pc to the board with a micro-usb cable
- use a serial terminal like picocom (or putty on windows) to open the serial port and communicate to the joule with the command picocom /dev/ttyUSB0 -b115200
- log in to the joule from the serial, writing username and password
- use ifconfig command to get joule ip
- disconnect the micro usb cable from the joule
- Connect host pc to the same wireless network of the turtlebot
- Edit 00config.sh with the correct ip addresses and ubuntu joule username
- Turn on turtlebot3 and wait ~45secs for ubuntu to start
- Run 01hostpc_bringup.sh in a terminal of the host pc
- In another terminal run 02turtlebot_bringup.sh (typing joule password twice)
Now turtlebot is ready and working (lidar sensor, if connected should start rotating).
Many teleoperation methods are available:
- keyboard teleoperation is available by running 03hostpc_keyboard_teleop.sh
- joypad teleoperation is available by running 03hostpc_joysyick_teleop.sh with the joypad connected
- android phone teleoperation with app TeleOP
- other methods as described here
With the system running, it is possible to run SLAM node to create map. Execute script 05hostpc_slam.sh When script is closed, map is saved in current directory. To see the built map real-time, launch 06hostpc_show_slam.sh with slam running.
To poweroff turtlebot, close the scripts with CTRL+C in inverse order. Before shutting down it is important to poweroff the joule operating system. Execute script 99turtlebot_poweroff.sh and wait ~30secs before removing power!