TurtleBot3にミニPCを搭載した際のセットアップ

はじめに

TurtleBot3にラズパイではなくミニPCを搭載し，RvizなどもこのPCで動かしたいときのセットアップ方法です．

ROS 2 Humbleのインストール

「Try some examples」の実行まで

TurtleBot3のセットアップ

PCのセットアップ

「Humble」を選択

SBCのセットアップ

通常ラズパイが使用されるSBCの役割をミニPCに担わせます．
必要であろうコマンドを実行していきます．

1. Enter the command below to edit automatic update setting file.

   sudo vi /etc/apt/apt.conf.d/20auto-upgrades
   

2. Change the update settings as below.

   /etc/apt/apt.conf.d/20auto-upgrades

   APT::Periodic::Update-Package-Lists "0";
   APT::Periodic::Unattended-Upgrade "0";
   

3. Set the systemd to prevent boot-up delay even if there is no network at startup. Run the command below to set mask the systemd process using the following command.

   systemctl mask systemd-networkd-wait-online.service
   

4. Disable Suspend and Hibernation

   sudo systemctl mask sleep.target suspend.target hibernate.target hybrid-sleep.target
   

5. Reboot the Raspberry Pi.

   reboot
   

6. Install and Build ROS Packages.

   Building the turtlebot3 package may take longer than an hour. Please use the SMPS to ensure the system is always powered.

   sudo apt install python3-argcomplete python3-colcon-common-extensions libboost-system-dev build-essential
   sudo apt install ros-humble-hls-lfcd-lds-driver
   sudo apt install ros-humble-turtlebot3-msgs
   sudo apt install ros-humble-dynamixel-sdk
   sudo apt install libudev-dev
   mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src
   #git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3.git
   git clone -b humble https://github.com/ROBOTIS-GIT/ld08_driver.git
   cd ~/turtlebot3_ws/src/turtlebot3
   rm -r turtlebot3_cartographer turtlebot3_navigation2
   cd ~/turtlebot3_ws/
   #echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
   source ~/.bashrc
   colcon build --symlink-install --parallel-workers 1
   #echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
   source ~/.bashrc
   

7. USB Port Setting for OpenCR

   sudo cp `ros2 pkg prefix turtlebot3_bringup`/share/turtlebot3_bringup/script/99-turtlebot3-cdc.rules /etc/udev/rules.d/
   sudo udevadm control --reload-rules
   sudo udevadm trigger
   

OpenCRのセットアップ

の３〜６

1. Arduino IDEのインストール

   • 「2. Install Arduino IDE.」は

     wget -P ~/Downloads https://downloads.arduino.cc/arduino-1.8.19-linux64.tar.xz
     tar xvf ~/Downloads/arduino-1.8.19-linux64.tar.xz
     mkdir -p ~/.local
     mv arduino-1.8.19 ~/.local
     cd ~/.local/arduino-1.8.19
     bash arduino-linux-setup.sh $USER
     sudo systemctl reboot
     

     再起動後

     cd ~/.local/arduino-1.8.19
     sudo bash install.sh
     

     https://qiita.com/ma2shita/items/927aa9e55962b4137518

   • 「6. Open the TurtleBot3 firmware.」以降は Setup DYNAMIXELs for TurtleBot3 を参考に進める

     • 「Tools > Board > Boards Manager」で「OpenCR」と検索し，バージョン 1.5.2 をインストール
     • 「Tools > Board」を "OpenCR Board"，「Tools > Port」を "/dev/ttyACM0"に設定

2. OpenCR Test

   1. Upload firmware to the OpenCR.

      cd ~/opencr_update
      ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr
      

   2. A successful firmware upload for TurtleBot3 Burger will look like below.

   を行った後に「3.3.1. OpenCR Test」

Bringup

「Dynamixel」モーターなどのエラーが出ているときは「OpenCR Test」を再実行

Bringup TurtleBot3

export TURTLEBOT3_MODEL=waffle_pi
ros2 launch turtlebot3_bringup robot.launch.py

Rviz

ros2 launch turtlebot3_bringup rviz2.launch.py  

Teleoperation

Bringupした状態で

• キーボード

  export TURTLEBOT3_MODEL=waffle_pi
  ros2 run turtlebot3_teleop teleop_keyboard
  

• リモコン

Topic Monitor

rqt

LiDARのセットアップ

1. パッケージをクローン・ビルド

mkdir -p ~/ros2_ws/src

cd ~/ros2_ws/src
git clone https://github.com/Slamtec/sllidar_ros2.git

cd ~/ros2_ws
source /opt/ros/humble/setup.bash
colcon build --symlink-install

2. 権限を付与

ls -l /dev | grep ttyUSB
sudo chmod 666 /dev/ttyUSB0

LiDARと接続するUSBを抜き差ししながら ls -l /dev | grep ttyUSB を実行するとデバイスを確認できます

3. Rvizで確認

source ~/ros2_ws/install/setup.bash
ros2 launch sllidar_ros2 view_sllidar_s3_launch.py