Turtlebot3 Rasberry pi

Installation manual of turtlebot3 with Raspberry pi

Installation

Prerequisites

Turtlebot3, Raspberry pi, OpenCR board (all things are packaged in a Turtlebot3 box)

Basic installation

Assemble Turtlebot3, Raspberry pi and OpenCR through manual.
Boot Raspberry pi with micro SDCard.
- There is a 8GB micro SDCard in a Turtlebot3 box.
  * SDCard is empty. Need download UBUNTU-MATE 16.04 for raspberry pi installation.
  - Install UBUNTU-MATE, Rasberry pi setup
Follow Remote PC setup.
Make sure ROS packages are properly installed to Raspberry pi and Remote PC.
- If "catkin_make" command is completed without any errors, ROS is well installed.

Network configuration

Turtlebot3 can be connected to remote PC by wifi networks or ethernet cable.
To drive ROS for both components, they need to know other's ip network
by setting "ROS_MASTER_URI" and "ROS_IP" at "~/.bashrc".
Turtlebot3 or Remote PC both can be "ROS_MASTER_URI".

#### Remote PC master
At Remote PC "~/.bashrc", add
ROS_MASTER_URI=http://IP_OF_REMOTE_PC:11311
ROS_IP=IP_OF_REMOTE_PC

At turtlebot3 "~/.bashrc", add
ROS_MASTER_URI=http://IP_OF_REMOTE_PC:11311
ROS_IP=IP_OF_TURTLEBOT3

#### Turtlebot3 master
At Remote PC "~/.bashrc", add
ROS_MASTER_URI=http://IP_OF_TURTLEBOT3:11311
ROS_IP=IP_OF_REMOTE_PC

At turtlebot3 "~/.bashrc", add
ROS_MASTER_URI=http://IP_OF_TURTLEBOT3:11311
ROS_IP=IP_OF_TURTLEBOT3

Make sure "http://" is only prefixed for "ROS_MASTER_URI". "http://" should not be added to "ROS_IP" and "ROS_HOSTNAME"
Connection by wifi networks
- For Linux installed Remote PC, need to setup UBUNTU HOTSPOT to communicate only with turtlebot3.
- After ubuntu hotspot setup, connect turtlebot3 to hidden wifi networks created by Remote PC.
- Check ip address of Remote PC and turtlebot3 by "ifconfig" command.
Connection by ethernet
- Connect Remote PC and raspberry pi by ethernet cable.
- At Remote PC ethernet configuration, ipv4 window, set connection mode as "share with other computers".
  - This makes Remote PC and turtlebot3 connected by ethernet cable.
- Check ip address of Remote PC and turtlebot3 by "ifconfig" command.
Check connection by ssh command. If connection is successfully setup, you can access to turtlebot3 with turtlebot3 ip address.
- Do not need connect monitor, keyboard and mouse to turtlebot3 anymore!
```
ssh turtlebot3_name@IP_OF_TURTLEBOT3
```

OpenCR setup with Arduino

OpenCR setup,
- Make sure jump_to_fw text be printed.
- Do not need to install Arduino on raspberry pi. Install Arduino on your Remote PC. Arduino setup(
- Connect OpenCR to your Remote PC and run Arudino on your Remote PC.
Before uploading Examples/turtlebot3/turtlebot3_model/turtlebot3_core,
need to setup first DYNAMIXEL firmware on OpenCR.
- If not, DYNAMIXEL will not move at all.
In Arduino window, go to Examples/turtlebot3/turtlebot3_setup/turtlebot3_motor_setup and upload.
- When setup DYNAMIXEL, need to connect only one DYNAMIXEL to OpenCR.
  Motor_setup firmware can not find two DYNAMIXELs at the same time.
  * Open serial monitor and check each DYNAMIXEL motor work successfully.
- After setup two DYNAMIXELs, connect both DYNAMIXELs to OpenCR and upload turtlebot3_core.
- After that, connect OpenCR to raspberry pi.

Move Turtlebot3

Bringup Turtlebot3

To move Turtlebot3, need to do bringup first to Turtlebot3

Run roscore at master node
- If roscore gives an error, check "ROS_MASTER_URI" and "ROS_IP" in ~/.bashrc at Remote PC and Turtlebot3.
- roscore must be executed when you connect Turtlebot3 and Remote PC.
```
roscore
```
Bring up turtlebot3

roslaunch turtlebot3_bringup turtlebot3_robot.launch

Teleoperation with keyboard or joystick
- When teleoperate with joystick, make sure joystic well connected via <ls /dev/input/js*> command

ROSTOPIC

If connection is well established, you can check rostopic list after executing roscore and bringup

rostopic list

Can check rostopic value at Remote PC

rostopic echo /cmd_vel

Setup webcam to raspberry pi

Install usb_cam ros package

Make sure web cam is well connected via <ls /dev/video>* command

cd ~/catkin_ws/src
git clone https://github.com/bosch-ros-pkg/usb_cam.git
cd ..
catkin_make(build again)

Test usb_cam before connect Remote PC

Set ROS_MASTER_URI and ROS_HOSTNAME as localhost

At turtlebot3 "~/.bashrc", 
ROS_MASTER_URI=http://localhost:11311
ROS_HOSTNAME=localhost

Run ROS
- usb_cam-test.launch file is located at ~/catkin_ws/src/usb_cam/launch/usb_cam-test.launch.
- Do not need to execute roscore when you do roslaunch. Launch file will execute roscore itself.
- Camera image window will be popped up.
```
roslaunch usb_cam usb_cam-test.launch
```

Compressed image for fast transferring.

Need to execute roscore first when you do rosrun. rosrun just execute node.

sudo apt-get install ros-kinetic-compressed-image-transport
roscore
rosrun iamge_view image_view image:=/usb_cam/image_raw _transport:=compressed

Multiple web cams

Check web cams are well connected
- May be /dev/video0, /dev/video1, /dev/video2...
Launch file should be edited. Distinguishing cameras by group.
Check usb_cam_multi_cam.launch file.

yjhong89/Turtlebot3-Raspberry-pi