SLAM

PC - roscore

jins@jins-System-Product-Name:~$ roscore

 

... logging to /home/jins/.ros/log/e12ef2f0-3a0e-11ef-9ee7-153280935340/roslaunch-jins-System-Product-Name-18193.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.3:45519/
ros_comm version 1.16.0


SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES

auto-starting new master
process[master]: started with pid [18201]
ROS_MASTER_URI=http://192.168.0.3:11311/

setting /run_id to e12ef2f0-3a0e-11ef-9ee7-153280935340
process[rosout-1]: started with pid [18211]
started core service [/rosout]

 

 

Turtlebot3 - bringup

export TURTLEBOT3_MODEL=${TB3_MODEL}
jinyoung@jinyoung:~$ roslaunch turtlebot3_bringup turtlebot3_robot.launch

 

... logging to /home/jinyoung/.ros/log/e12ef2f0-3a0e-11ef-9ee7-153280935340/roslaunch-jinyoung-1495.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.4:33633/

SUMMARY
========

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /turtlebot3_core/baud: 115200
 * /turtlebot3_core/port: /dev/ttyACM0
 * /turtlebot3_core/tf_prefix: 
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

NODES
  /
    turtlebot3_core (rosserial_python/serial_node.py)
    turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://192.168.0.3:11311

process[turtlebot3_core-1]: started with pid [1503]
process[turtlebot3_lds-2]: started with pid [1504]
process[turtlebot3_diagnostics-3]: started with pid [1505]
[INFO] [1720102140.420856]: ROS Serial Python Node
[INFO] [1720102140.466488]: Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [1720102142.586243]: Requesting topics...
[INFO] [1720102142.622510]: Note: publish buffer size is 1024 bytes
[INFO] [1720102142.629018]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]
[INFO] [1720102142.665382]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo]
[INFO] [1720102142.786103]: Setup publisher on imu [sensor_msgs/Imu]
[INFO] [1720102142.805419]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]
[INFO] [1720102142.849344]: Setup publisher on odom [nav_msgs/Odometry]
[INFO] [1720102142.867644]: Setup publisher on joint_states [sensor_msgs/JointState]
[INFO] [1720102142.888133]: Setup publisher on battery_state [sensor_msgs/BatteryState]
[INFO] [1720102142.910575]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]
[INFO] [1720102142.987301]: Setup publisher on /tf [tf/tfMessage]
[INFO] [1720102143.011835]: Note: subscribe buffer size is 1024 bytes
[INFO] [1720102143.022523]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[INFO] [1720102143.045763]: Setup subscriber on sound [turtlebot3_msgs/Sound]
[INFO] [1720102143.073410]: Setup subscriber on motor_power [std_msgs/Bool]
[INFO] [1720102143.101778]: Setup subscriber on reset [std_msgs/Empty]
[INFO] [1720102145.748388]: Setup TF on Odometry [odom]
[INFO] [1720102145.757943]: Setup TF on IMU [imu_link]
[INFO] [1720102145.769512]: Setup TF on MagneticField [mag_link]
[INFO] [1720102145.783977]: Setup TF on JointState [base_link]
[INFO] [1720102145.799151]: --------------------------
[INFO] [1720102145.812337]: Connected to OpenCR board!
[INFO] [1720102145.830512]: This core(v1.2.6) is compatible with TB3 Burger
[INFO] [1720102145.857793]: --------------------------
[INFO] [1720102145.866553]: Start Calibration of Gyro
[INFO] [1720102148.307673]: Calibration End

 

 

PC - SLAM

 

$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_slam turtlebot3_slam.launch

 

 

PC - Keyboard

 

$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch