Firmware upload - ldemk/choko GitHub Wiki

PC SETUP

INSTALL ROS ON REMOTE PC

(use docker instead)

  • $ SUDO APT-GET UPDATE
  • $ SUDO APT-GET UPGRADE
  • $ WGET HTTPS://RAW.GITHUBUSERCONTENT.COM/ROBOTIS-GIT/ROBOTIS_TOOLS/MASTER/INSTALL_ROS_KINETIC.SH && CHMOD 755 ./INSTALL_ROS_KINETIC.SH && BASH ./INSTALL_ROS_KINETIC.SH

INSTALL DEPENDENT ROS PACKAGES

(use docker instead)

SUDO APT-GET INSTALL ROS-KINETIC-JOY ROS-KINETIC-TELEOP-TWIST-JOY ROS-KINETIC-TELEOP-TWIST-KEYBOARD ROS-KINETIC-LASER-PROC ROS-KINETIC-RGBD-LAUNCH ROS-KINETIC-DEPTHIMAGE-TO-LASERSCAN ROS-KINETIC-ROSSERIAL-ARDUINO ROS-KINETIC-ROSSERIAL-PYTHON ROS-KINETIC-ROSSERIAL-SERVER ROS-KINETIC-ROSSERIAL-CLIENT ROS-KINETIC-ROSSERIAL-MSGS ROS-KINETIC-AMCL ROS-KINETIC-MAP-SERVER ROS-KINETIC-MOVE-BASE ROS-KINETIC-URDF ROS-KINETIC-XACRO ROS-KINETIC-COMPRESSED-IMAGE-TRANSPORT ROS-KINETIC-RQT-IMAGE-VIEW ROS-KINETIC-GMAPPING ROS-KINETIC-NAVIGATION ROS-KINETIC-INTERACTIVE-MARKERS

INSTALL DEPENDENT ROS PACKAGES

(use docker instead)

  • $ CD ~/CATKIN_WS/SRC/
  • $ GIT CLONE HTTPS://GITHUB.COM/ROBOTIS-GIT/TURTLEBOT3_MSGS.GIT
  • $ GIT CLONE HTTPS://GITHUB.COM/ROBOTIS-GIT/TURTLEBOT3.GIT
  • $ CD ~/CATKIN_WS && CATKIN_MAKE

NETWORK CONFIGURATION

Network configuration

Use ifconfig OR ip –s address to find out the ip address

ip_address

Change the ip addres of the device and corresponding ROS-Master usfin the following command nano ~/.bashrc

ip_modification

now apply changes source ~/.bashrc

RPI SETUP

INSTALL OS

  • DOWNLOAD THE LINUX DISTRO IMAGE BASED ON RASPBIAN FOR TURTLEBOT3
  • TO BURN THE IMAGE TO SD CARD
    • VISIT ETCHER.IO AND DOWNLOAD AND INSTALL THE ETCHER SD CARD IMAGE UTILITY.
    • RUN ETCHER AND SELECT THE LINUX IMAGE YOU DOWNLOADED ON YOUR COMPUTER OR LAPTOP.
    • SELECT THE SD CARD DRIVE.
    • CLICK BURN TO TRANSFER THE IMAGE TO THE SD CARD.
    • (OTHER METHODS TO BURN) YOU CAN USE ‘DD’ COMMAND IN LINUX OR USE APPLICATION ‘WIN32DISKIMAGER’ IN WINDOWS
  • AFTER THE INSTALLATION, YOU CAN LOGIN WITH USERNAME PI AND PASSWORD TURTLEBOT.
  • SUDO RASPI-CONFIG (SELECT 7 ADVANCED OPTIONS > A1 EXPAND FILESYSTEM)
  • SETUP WIFI
  • SUDO APT-GET INSTALL NTPDATE
  • SUDO NTPDATE NTP.UBUNTU.COM
  • NANO ~/.BASHRC (MODIFy THE LOCALHOST TO RASPBERRY PI'S IP) EXPORT ROS_MASTER_URI=HTTP://LOCALHOST:11311 EXPORT ROS_HOSTNAME=LOCALHOST
  • SOURCE ~/.BASHRC

From romote PC

Execute the following command SSH [email protected] (THE IP 192.168.XXX.XXX IS YOUR RASPBERRY PI'S IP OR HOSTNAME)

MCU SETUP

OpenCR

More info:

Firmware upload

  • INSTALL ARDUINO IDE FOR OPENCR
  • INSIDE ARDUINO IDE DO THE FOLLOWING STEPS FILE → EXAMPLES → TURTLEBOT3 → TURTLEBOT3_WAFFLE → TURTLEBOT3_CORE.

Selecting_the_firmware

uploading the fiwmware

Wait untill the uploading process ends

CONTROLLING THE TURTLEBOT

FOLLOW THE INSTRUCTIONS