|
|
|
[[_TOC_]]
|
|
|
|
|
|
|
|
# Turtlebot3 burger
|
|
|
|
|
|
|
|
login : ubuntu
|
|
|
|
password : turtlebot
|
|
|
|
|
|
|
|
## Peanut
|
|
|
|
|
|
|
|
+ name: peanut
|
|
|
|
+ ros version: 1
|
|
|
|
+ iot ip: 10.200.3.73
|
|
|
|
+ mac address: `b8:27:eb:b6:06:1b`
|
|
|
|
+ login: pi
|
|
|
|
+ password: turtlebot
|
|
|
|
+ startup
|
|
|
|
```
|
|
|
|
> cd
|
|
|
|
> source .bashrc
|
|
|
|
> ./roslaunch.sh
|
|
|
|
```
|
|
|
|
|
|
|
|
## Sunshine
|
|
|
|
|
|
|
|
+ name: sunshine
|
|
|
|
+ ros version: 1
|
|
|
|
+ iot ip: 10.200.3.69
|
|
|
|
+ mac address: `b8:27:eb:71:73:cb`
|
|
|
|
+ login: pi
|
|
|
|
+ password: turtlebot
|
|
|
|
+ startup
|
|
|
|
```
|
|
|
|
> cd
|
|
|
|
> source .bashrc
|
|
|
|
> ./roslaunch.sh
|
|
|
|
```
|
|
|
|
|
|
|
|
## Doc
|
|
|
|
|
|
|
|
+ name: doc
|
|
|
|
+ ros version: 1
|
|
|
|
+ iot ip: 10.200.3.103 // 10.200.5.5
|
|
|
|
+ mac address: `b8:27:eb:33:76:6c`
|
|
|
|
+ login: pi
|
|
|
|
+ password: turtlebot
|
|
|
|
+ startup
|
|
|
|
```
|
|
|
|
> cd
|
|
|
|
> source .bashrc
|
|
|
|
> ./roslaunch.sh
|
|
|
|
```
|
|
|
|
|
|
|
|
## Happy
|
|
|
|
|
|
|
|
+ name: happy
|
|
|
|
+ ros version: 1
|
|
|
|
+ iot ip: 10.200.3.104
|
|
|
|
+ mac address: `b8:27:eb:d0:1f:f1`
|
|
|
|
+ login: pi
|
|
|
|
+ password: turtlebot
|
|
|
|
+ startup
|
|
|
|
```
|
|
|
|
> cd
|
|
|
|
> source .bashrc
|
|
|
|
> ./roslaunch.sh
|
|
|
|
```
|
|
|
|
|
|
|
|
## Bashful
|
|
|
|
|
|
|
|
+ name: bashful
|
|
|
|
+ ros version: 1
|
|
|
|
+ iot ip: 10.200.3.110
|
|
|
|
+ mac address: `b8:27:eb:67:12:5b`
|
|
|
|
+ login: pi
|
|
|
|
+ password: turtlebot
|
|
|
|
+ startup
|
|
|
|
```
|
|
|
|
> cd
|
|
|
|
> source .bashrc
|
|
|
|
> ./roslaunch.sh
|
|
|
|
```
|
|
|
|
|
|
|
|
# Turtlebot3 waffle
|
|
|
|
|
|
|
|
TODO
|
|
|
|
|
|
|
|
# Poppy Ergo Jr
|
|
|
|
|
|
|
|
TODO |
|
|
|
---
|
|
|
|
title: Specification of mobile robots
|
|
|
|
---
|
|
|
|
To be able to interact with robots, connect to Wi-Fi with SSID `turtlebot_wl_2` (2.4GHz) or `turtlebot_wl_5` (5GHz).
|
|
|
|
|
|
|
|
# Turtlebot3 Burger
|
|
|
|
|
|
|
|
## Setup
|
|
|
|
|
|
|
|
To set a robot up, connect to it via SSH with login `ubuntu`. Authentication is with private key.
|
|
|
|
|
|
|
|
```sh
|
|
|
|
ssh ubuntu@176.16.1.XXX
|
|
|
|
```
|
|
|
|
|
|
|
|
The robot hosts several ROS nodes: `turtlebot3_bringup` (to access motors, LiDAR, etc), `v4l2_camera` (to access camera data), `̀turtlebot_simple_action_server` (for high-level actions to drive the robot), `rosbridge_server` (for external access to nodes via WebSocket). Commands to run these nodes are given below. Each command must be run in a separate SSH terminal.
|
|
|
|
|
|
|
|
```sh
|
|
|
|
ros2 launch turtlebot3_bringup robot.launch.py
|
|
|
|
```
|
|
|
|
|
|
|
|
```sh
|
|
|
|
ros2 run v4l2_camera v4l2_camera_node --ros-args -p image_size:="[320,240]" -p time_per_frame:="[1,10]" -p brightness:=60 -p saturation:=70
|
|
|
|
```
|
|
|
|
|
|
|
|
```sh
|
|
|
|
cd ros2_ws/src/simple-turtlebot-actionserver/script
|
|
|
|
python3 turtlebot_simple_action_server.py
|
|
|
|
```
|
|
|
|
|
|
|
|
```sh
|
|
|
|
ros2 launch rosbridge_server rosbridge_websocket.launch
|
|
|
|
```
|
|
|
|
|
|
|
|
Note: the environment should have been properly set when connecting to SSH (commands are in `bashrc`). If issues occur, ensure that the environment is still correct:
|
|
|
|
|
|
|
|
```sh
|
|
|
|
export TURTLEBOT3_MODEL=burger
|
|
|
|
export ROS_DOMAIN_ID=XX
|
|
|
|
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
|
|
|
|
source /opt/ros/humble/setup.bash
|
|
|
|
```
|
|
|
|
|
|
|
|
## Network configuration
|
|
|
|
|
|
|
|
| Name | MAC address | IP address | ROS Domain ID |
|
|
|
|
| --- | --- | --- | --- |
|
|
|
|
| Bashful | `b8:27:eb:67:12:5b` | | |
|
|
|
|
| Doc | `b8:27:eb:33:76:6c` | | |
|
|
|
|
| Peanut | `b8:27:eb:b6:06:1b` | `172.16.1.103` | 30 |
|
|
|
|
| Happy | `b8:27:eb:d0:1f:f1` | `172.16.1.104` | 33 |
|
|
|
|
| Sneezy | | | |
|
|
|
|
| Snowflake | | | |
|
|
|
|
| Sunshine | `b8:27:eb:71:73:cb` | | 31 |
|
|
|
|
|
|
|
|
# Turtlebot3 Waffle
|
|
|
|
|
|
|
|
TODO
|
|
|
|
|
|
|
|
# Poppy Ergo Jr
|
|
|
|
|
|
|
|
TODO |
