turtlebot remote

Setup

sourcing ROS

Add the following to your bashrc file for ros and the workspace to be sourced when opening a new terminal in dev_ws. make sure your are not sourcing ROS in your bashrc file.

if [ -f "/dev_ws/setup.bash" ]; then
    source /dev_ws/setup.bash
fi

use

build the image

Running the following command from the root of the repo will execute the build image shell script

.docker/build_image.sh

run the image

Running the following command from the root of the repo will execute the run image shell script

.docker/run_user.sh

with Nvidia support (requires nvidia-docker2)

.docker/run_user_nvidia.sh

Once inside the container, ake ownership of the workspace with

sudo chown -R $USER /dev_ws

Connection (Turtlebot)

1. Connect to the robot Connect the robot wifi, change the user ip address to 10.41.1.10, mask 24

2. SSH to the robot open a terminal on local pc and this terminal will connect to the system in robot

   ssh [email protected]

3. Bringup the robot

   cd turtlebot_robot
   .docker/run_user.sh
   roslaunch turtlebot_bringup iaac.launch

Remote computer(PC)

1. Build the image and run the container

   cd turtlebot_remote_f0

   git pull(make sure all the files are up to date)

   .docker/build_image.sh

   Run the image

   .docker/run_user.sh
   sudo chown -R $user /dev_ws

2. Gmapping(all in terminator) terminator(split when you want to run multiple nodes)

   1. rviz(add robotmodel, fix frame, add laser_scan from topics)
   2. launch the gmapping node

      roslaunch turtlebot_navigation turtlebot_gmapping.launch

   3. teleoperation

      roslaunch turtlebot_teleop keyboard_teleop.launch

   4. Save the map

      rosrun map_server map_saver -f /dev_ws/src/turtlebot_apps/turtlebot_navigation/maps/<NAME>

3. Navigation(same terminator)

   1. change the map name in the amcl_demo_iaac launch file
   2. rviz(load the map, robotmode, laser_scan, image)
   3. Launch the navigation node

      roslaunch turtlebot_navgation amcl_demo_iaac.launch

   4. Estimate the pose and position of the robot
   5. Navigate to a position.

4. USB camera roslaunch usb_cam camera.launch

Debug

1. lidar not connected

   change the usb port and reboot the system

2. how to syncronize the time start a new terminal, split to two and ssh to the nuc

   sudo date --set="2024-01-16 17:22:00.000"

3. push the changes

   cd /dev_ws/src

   git add . git commit -m 'your commit ' git push