ROBOTIS TurtleBot3

ROBOTIS e-Manual for TurtleBot3: http://turtlebot3.robotis.com/

Install ROS Kinetic (predefined image)

For details, look at https://emanual.robotis.com/docs/en/platform/turtlebot3/raspberry_pi_3_setup/#raspberry-pi-3-setup

Image used

image_rpi_20190429.img.zip

Burn the image to a SD card. Afterwards add two files to the boot partititon:

• An empty file ssh
• A file named wpa_supplicant.conf with the contents

ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
update_config=1
country=DE

network={
 ssid="<Name of your wireless LAN>"
 psk="<Password for your wireless LAN>"
}

After initial boot

To make `ifconfig´ available

apt-get install net-tools 

Set up an SMB Server (optional)

sudo apt update
sudo apt install samba

sudo nano /etc/samba/smb.conf [do your magic here]

sudo service smbd restart
sudo service smbd status

sudo smbpasswd -a pi

Bringup

For details, look at https://emanual.robotis.com/docs/en/platform/turtlebot3/bringup/#ros-1-bringup

roslaunch turtlebot3_bringup turtlebot3_robot.launch
roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch

Install ROS Melodic (Ubuntu Mate Bionic 18.04)

Image used

ubuntu-mate-18.04.2-beta1-desktop-armhf+raspi-ext4.img

After initial boot

sudo apt-get update
sudo apt-get upgrade

In case of upgrade errors

If any upgrade error occur, look what's missing

apt list --upgradable

and than try to install the listed files seperatly, like

sudo apt install fwupd
sudo apt install fwupdate
sudo apt install libfwup1

Ignore linux-firmware-raspi2 and reboot.

Enable ssh

Use sudo raspi-config to enable ssh. If ssh Keys are missing use

sudo /usr/bin/ssh-keygen - A

If the ssh option is not present in raspi-config do the following

sudo apt install openssh-server
sudo systemctl enable ssh.service

Expand file system

Use sudo raspi-config to expand the file system

Enable booting into CLI

Use sudo raspi-config to enable booting into CLI

Install ROS Melodic for Turtlebot3

sudo apt-get update
sudo apt-get upgrade

Get the install script and execute

wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_melodic_rp3.sh && chmod 755 ./install_ros_melodic_rp3.sh && bash ./install_ros_melodic_rp3.sh

Clone the necessary repos

cd ~/catkin_ws/src
git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

Remove unneeded components

cd ~/catkin_ws/src/turtlebot3
rm -r turtlebot3_description/ turtlebot3_teleop/ turtlebot3_navigation/ turtlebot3_slam/ turtlebot3_example/

Get rosserial

sudo apt-get install ros-melodic-rosserial-python ros-melodic-tf

Make the components

source ~/.bashrc
cd ~/catkin_ws && catkin_make -j1

Set the USB access rights

rosrun turtlebot3_bringup create_udev_rules

Install & initialize rosdep

sudo apt-get install python-rosdep
sudo rosdep init
rosdep update

Source the environment

source ~/.bashrc

Test it...

roslaunch turtlebot3_bringup turtlebot3_robot.launch

Enable pi camera

Enable camera with sudo raspi-config and test it with ´´´ raspistill -o test.jpg ´´´

Clone & build raspicam_node

Install prerquisites

sudo apt-get install ros-melodic-compressed-image-transport ros-melodic-camera-info-manager
sudo apt-get install ros-melodic-diagnostic-updater
sudo apt install libraspberrypi-dev

Clone the repo from git

cd ~/catkin_ws/src
git clone https://github.com/UbiquityRobotics/raspicam_node.git

Edit raspicam_node/package.xml with

nano src/raspicam_node/package.xml

and uncomment thes two lines

<!-- <depend>libraspberrypi0</depend> -->
<!-- <depend>libraspberrypi-dev</depend> -->

Check dependencies

cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -y

Source environment & build

source ~/.bashrc
cd ~/catkin_ws && catkin_make

Test raspicam_node

roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch

intel RealSense

export ROS_VER=kinetic 
sudo apt-get install ros-$ROS_VER-realsense2-camera