Jetson Nano on Turtlebot3 Setup

• https://qiita.com/erio0406/items/0285a7b6440958ea991e
• https://www.jetsonhacks.com/2017/03/21/jetpack-3-0-nvidia-jetson-tx2-development-kit/
• https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup

Requirements

• turtlebot3
• turtlebot3_bringup

$ pip install pyserial
$ sudo apt install ros-melodic-rosserial-python ros-melodic-rosserial-arduino
$ sudo apt install ros-melodic-hls-lfcd-lds-driver # LiDAR
$ sudo chmod a+rw /dev/ttyACM0 # OpenCR
$ sudo chmod a+rw /dev/ttyUSB0 # LiDAR
$ roscore &
$ rosrun turtlebot3_bringup create_udev_rules
$ sudo udevadm control --reload-rules
$ sudo udevadm trigger

sudo usermod -a -G dialout $USER

• install kinetic from source
• Jetson TX TB3
• Jetson Nano Arduino

Change permission of /dev/tty*

$ sudo chmod 666 /dev/ttyACM0 # OpenCR
$ sudo chmod 666 /dev/ttyUSB0 # LiDAR

or

$ sudo chmod a+rw /dev/ttyACM0 # OpenCR
$ sudo chmod a+rw /dev/ttyUSB0 # LiDAR