TurtleBot3 Setup for Stanford AA174 / AA274

Upgrade From Existing ROS1 Image

1. Log into the TX2 from a host machine, replacing <name> with the actual robot name labeled on the LiDAR.

   ssh aa274@<name>.local  # e.g. ssh aa274@curly.local

2. Update the turtlebot3_setup repo

   cd ~/turtlebot3_setup && git pull

3. Flash OpenCR with ROS2 compatible firmware

   ./flash_opencr_humble.sh

   Note: check output for any errors, this command might need to be run twice.
4. Install ROS2 humble and drivers

   ./setup_humble_and_deps.sh

5. Setup ROS_DOMAIN_ID: different robot should have different domain IDs.

   ./change_ros2_domain.sh  # enter the desirable domain ID when prompted

Flashing (TODO)

Re-flashing is not needed, but for reference, see legacy instructions.