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．

Enter the command below to edit automatic update setting file.
```
sudo vi /etc/apt/apt.conf.d/20auto-upgrades
```

Change the update settings as below.

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

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

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
```

Disable Suspend and Hibernation

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

Reboot the Raspberry Pi.
```
reboot
```

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

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

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
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