반응형
- Open a new terminal from PC with Ctrl + Alt + T and connect to Raspberry Pi with its IP address.
The default password is ubuntu.
$ ssh ubuntu@{IP_ADDRESS_OF_RASPBERRY_PI} - Bring up basic packages to start TurtleBot3 applications. Replace the ${TB3_MODEL} parameter with your model name such as burger, waffle, waffle_pi.
$ export TURTLEBOT3_MODEL=${TB3_MODEL} $ ros2 launch turtlebot3_bringup robot.launch.py - If the TurtleBot3 model is waffle_pi as below, the terminal will print below messages.
$ export TURTLEBOT3_MODEL=waffle_pi $ ros2 launch turtlebot3_bringup robot.launch.py [INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2021-08-12-06-54-56-087495-ubuntu-18094 [INFO] [launch]: Default logging verbosity is set to INFO urdf_file_name : turtlebot3_waffle_pi.urdf [INFO] [robot_state_publisher-1]: process started with pid [18128] [INFO] [hlds_laser_publisher-2]: process started with pid [18129] [INFO] [turtlebot3_ros-3]: process started with pid [18130] [robot_state_publisher-1] Initialize urdf model from file: /home/ubuntu/turtlebot3_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf [robot_state_publisher-1] Parsing robot urdf xml string. [robot_state_publisher-1] Link base_link had 7 children [robot_state_publisher-1] Link camera_link had 1 children [robot_state_publisher-1] Link camera_rgb_frame had 1 children [robot_state_publisher-1] Link camera_rgb_optical_frame had 0 children [robot_state_publisher-1] Link caster_back_left_link had 0 children [robot_state_publisher-1] Link caster_back_right_link had 0 children [robot_state_publisher-1] Link imu_link had 0 children [robot_state_publisher-1] Link base_scan had 0 children [robot_state_publisher-1] Link wheel_left_link had 0 children [robot_state_publisher-1] Link wheel_right_link had 0 children [robot_state_publisher-1] got segment base_footprint [robot_state_publisher-1] got segment base_link [robot_state_publisher-1] got segment base_scan [robot_state_publisher-1] got segment camera_link [robot_state_publisher-1] got segment camera_rgb_frame [robot_state_publisher-1] got segment camera_rgb_optical_frame [robot_state_publisher-1] got segment caster_back_left_link [robot_state_publisher-1] got segment caster_back_right_link [robot_state_publisher-1] got segment imu_link [robot_state_publisher-1] got segment wheel_left_link [robot_state_publisher-1] got segment wheel_right_link [robot_state_publisher-1] Adding fixed segment from base_footprint to base_link [robot_state_publisher-1] Adding fixed segment from base_link to camera_link [robot_state_publisher-1] Adding fixed segment from camera_link to camera_rgb_frame [robot_state_publisher-1] Adding fixed segment from camera_rgb_frame to camera_rgb_optical_frame [robot_state_publisher-1] Adding fixed segment from base_link to caster_back_left_link [robot_state_publisher-1] Adding fixed segment from base_link to caster_back_right_link [robot_state_publisher-1] Adding fixed segment from base_link to imu_link [robot_state_publisher-1] Adding fixed segment from base_link to base_scan [robot_state_publisher-1] Adding moving segment from base_link to wheel_left_link [robot_state_publisher-1] Adding moving segment from base_link to wheel_right_link [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper [turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)! [turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate! [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Start Calibration of Gyro [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Calibration End [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Motors [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Wheels [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Sensors [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create battery state publisher [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create imu publisher [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sensor state publisher [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create joint state publisher [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Devices [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create motor power server [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create reset server [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sound server [turtlebot3_ros-3] [INFO] [turtlebot3_node]: Run! [turtlebot3_ros-3] [INFO] [diff_drive_controller]: Init Odometry [turtlebot3_ros-3] [INFO] [diff_drive_controller]: Run! - Topics and services can be listed with commands below.
● Topic list
$ ros2 topic list /battery_state /cmd_vel /imu /joint_states /magnetic_field /odom /parameter_events /robot_description /rosout /scan /sensor_state /tf /tf_static
● Service list
$ ros2 service list /diff_drive_controller/describe_parameters /diff_drive_controller/get_parameter_types /diff_drive_controller/get_parameters /diff_drive_controller/list_parameters /diff_drive_controller/set_parameters /diff_drive_controller/set_parameters_atomically /hlds_laser_publisher/describe_parameters /hlds_laser_publisher/get_parameter_types /hlds_laser_publisher/get_parameters /hlds_laser_publisher/list_parameters /hlds_laser_publisher/set_parameters /hlds_laser_publisher/set_parameters_atomically /launch_ros/describe_parameters /launch_ros/get_parameter_types /launch_ros/get_parameters /launch_ros/list_parameters /launch_ros/set_parameters /launch_ros/set_parameters_atomically /motor_power /reset /sound /turtlebot3_node/describe_parameters /turtlebot3_node/get_parameter_types /turtlebot3_node/get_parameters /turtlebot3_node/list_parameters /turtlebot3_node/set_parameters /turtlebot3_node/set_parameters_atomically
반응형