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TURTLEBOT_INTERACTION.MD

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Turtlebot Interaction

Setup - Software Dependencies

The turtlebot ROS libraries need to be installed from source, to do this, use:
cd ~/catkin_ws/src
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

We also need to install SLAM(Simultaneous Localization and Mapping) packages
git clone https://github.com/ros-perception/openslam_gmapping.git
git clone https://github.com/ros-perception/slam_gmapping.git
git clone https://github.com/ros/geometry2.git
git clone https://github.com/ros-planning/navigation.git

After that:
cd ~/catkin_ws
catkin_make

Setup - Communicating With a Turtlebot

To set this up you need to add some environment variables to your .bashrc file on DiCE.
gedit ~/.bashrc
and jump to the end of the file, then add:
export TURTLEBOT3_MODEL=waffle_pi
export ROS_MASTER_URI=http://XATU:11311
export ROS_HOSTNAME=$HOSTNAME

Connect To a Turtlebot

Start up the turtlebot, wait for a minute or so, then SSH in:
ssh pi@<turtlebot_name> In here, our robot name is XATU.
The password is turtlebot

Time Calibration For the Turtlebot

The built in time in the turtlebot is incorrect and will bring many troubles.

  • Open: time.is
  • After SSH to the turtlebot, write:
    sudo ntpdate extntp0.inf.ed.ac.uk
    Then press 1 and enter turtlebot
    Now the turtlebot has synchronised the time.