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--- software:tortugabot [2014/12/01 14:02] – gkazhoya
+++ software:tortugabot [2024/08/20 11:33] (current) – s_fuyedc
@@ Line 1: / Line 1: @@
 ====== TortugaBot ======
+The latest setup guide (Dec 2022) was moved to [[software:tortugabot_ros1_noetic|the ROS1 Noetic guide]].
 The TortugaBot is a little robot which has an ASUS Xtion Pro Live as sensor. It is mainly build from acrylc glass and Aluminium bars. To move he is using two [[http://www.robot-electronics.co.uk/htm/emg30.htm | EMG30]] or [[http://www.robot-electronics.co.uk/htm/emg49.htm|EMG49]] motors which get their power from a 11.1V 2500mAh Li-Po battery. He gets controlled by a Laptop which has to be put in the LispBot.
@@ Line 20: / Line 22: @@
   * All the laptops should have a Desktop version of ROS installed. ATM it is ros-indigo-desktop
   * The software repo for TortugaBots is in ''https://github.com/code-iai/tortugabot''
-  * Right now it seems that you need both rosbuild and catkin workspaces. The repo code should go into catkin.
+  * All the software you need is typically located in ''${HOME}/workspace/ros'' or something similar
+  * The launch files for the robot are in ''roslauch tortugabot_bringup TAB-TAB''.
 ==== Configuring a new user ====
   * For students we usually create users with no admin access
+  * Add the user to the ''dialout'' group, such that it could have access to the TTY ports for talking to the wheel drivers.
+<code>
+$ sudo usermod -a -G dialout USERNAME
+$ groups USERNAME # to check if it worked
+</code>
   * To make sure the OS won't go to bed when closing the lid change the following settings:
-     * Unordered List ItemIn "Power" settings of your "System settings" change from "suspending" to "doing nothing" when closing the lid
+     * In "Power" settings of your "System settings" change from "suspending" to "doing nothing" when closing the lid
      * In "Brightness and Lock" settings turn the lock off.
+  * We put the ROS packages in the directory typically called ''${HOME}/workspace/ros/src'', where ''.../ros'' is the catkin workspace:
-Rosinstall file:
 <code>
-- git: {local-name: tortugabot, uri: 'https://github.com/code-iai/tortugabot.git',
+$ cd && mkdir -p workspace/ros/src
-    version: master}
+$ source /opt/ros/indigo/setup.bash
-- git: {local-name: turtlebot_msgs, uri: 'https://github.com/turtlebot/turtlebot_msgs.git',
+$ cd workspace/ros && catkin_make
-    version: indigo}
+$ echo -e "\n# ROS\nsource \$HOME/workspace/ros/devel/setup.bash\n" >> ~/.bashrc
-- git: {local-name: turtlebot_create, uri: 'https://github.com/turtlebot/turtlebot_create.git',
+$ . ~/.bashrc
-    version: indigo}
+$ cd src && wstool init
-- git: {local-name: turtlebot, uri: 'https://github.com/turtlebot/turtlebot.git',
-    version: indigo}
-- git: {local-name: turtlebot_apps, uri: 'https://github.com/turtlebot/turtlebot_apps.git',
-    version: indigo}
-- git: {local-name: turtlebot_viz, uri: 'https://github.com/turtlebot/turtlebot_viz.git',
-    version: indigo}
-- git: {local-name: turtlebot_simulator, uri: 'https://github.com/turtlebot/turtlebot_simulator.git',
-    version: indigo}
-- git: {local-name: map_store, uri: 'https://github.com/ros-planning/map_store.git',
-    version: hydro-devel}
 </code>
+  * The software is located mostly in the [[https://github.com/code-iai/tortugabot|tortugabot repo on Github]]
+  * To install everything in one shot you can use the ''.rosinstall'' file from the repo. Don't forget to compile your workspace after getting the code.
+<code>
+$ wstool merge https://raw.githubusercontent.com/code-iai/tortugabot/master/rosinstall.yaml
+$ wstool update
+$ cd .. && rosdep install --from-paths src --ignore-src
+</code>
+Check the [[https://github.com/code-iai/tortugabot|README file in the repo]] for more info.
 ==== Reinstalling OS ====
@@ Line 57: / Line 66: @@
   * Right now the only OS on the netbooks is Ubuntu, so we get rid of the Windows
-  * To get access to the boot menu (because the laptops are running UEFI) start Windows, keep the Shift key pressed while pressing "Restart", when an advanced menu comes up choose troubleshooting (the button with the screwdriver on the picture) and choose configure UEFI, this will restart the computer and get you into the boot menu.
+  * //If you have Windows:// To get access to the boot menu (because the laptops are running UEFI) start Windows, keep the Shift key pressed while pressing "Restart", when an advanced menu comes up choose troubleshooting (the button with the screwdriver on the picture) and choose configure UEFI, this will restart the computer and get you into the boot menu.
+  * //If you don't have Windows:// turn laptop on and start pressing Fn + F2 to get into Bios. After Lenovo logo Bios should come up.
   * When installing your Ubuntu configure the boot menu to
      * disable safe boot
@@ Line 89: / Line 99: @@
+To get sixad to start all the time, do:
+  cd /etc/rc2.d && sudo ln -s ../init.d/sixad S99sixad
+==== guvcview ====
+guvcview and other uvc related things were not working with a recent kernel (4.4.x)
+The following fixes the problem:
+  sudo add-apt-repository ppa:pj-assis/ppa
+  sudo apt-get update
+  sudo apt-get install guvcview
+==== libuvc-camera for the webcams ====
+Create the file /etc/udev/rules.d/99-uvc.rules with the following inside:
+  # UVC camera Microsoft LifeCam Studio
+  SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="045e", ATTRS{idProduct}=="0772", MODE="0666"
+(adjust for your webcam looking at lsusb)
+Then restart udev:
+  /etc/init.d/udev restart
+And re-connect the webcam. It should now be readable for everyone.
+Install the camera driver:
+  sudo apt install ros-indigo-libuvc-camera
+Create a launch file with the following contents:
+  <launch>
+    <group ns="camera">
+      <node pkg="libuvc_camera" type="camera_node" name="mycam">
+        <!-- Parameters used to find the camera -->
+        <param name="vendor" value="0x045e"/>
+        <param name="product" value="0x0772"/>
+        <param name="serial" value=""/>
+        <!-- If the above parameters aren't unique, choose the first match: -->
+        <param name="index" value="0"/>
+        <!-- Image size and type -->
+        <param name="width" value="640"/>
+        <param name="height" value="480"/>
+        <!-- choose whichever uncompressed format the camera supports: -->
+        <param name="video_mode" value="uncompressed"/> <!-- or yuyv/nv12/mjpeg -->
+        <param name="frame_rate" value="15"/>
+        <param name="timestamp_method" value="start"/> <!-- start of frame -->
+        <param name="camera_info_url" value="file:///tmp/cam.yaml"/>
+        <param name="auto_exposure" value="3"/> <!-- use aperture_priority auto exposure -->
+        <param name="auto_white_balance" value="false"/>
+      </node>
+    </group>
+  </launch>
+==== Configuring network to communicate with laser ====
+Connect the laser and make sure it is powered up with the battery.
+Go to the network connections icon (which is next to your volume icon in the Ubuntu GUI).
+There should be an ethernet connection existing which is not completely configured.
+On the bottom of network connections menu click on "Edit Connections...".
+Choose "Wired Connection 1" and click on "Edit...".
+There, in the "Ethernet" tab use Device Mac Address from the drop-down menu.
+In the "IPv4 Settings" tab choose "Method" "Manual" and in "Addresses" add a new address -- click on "Add". The "Address" is the IP address of the network card -- your ethernet to USB dongle, e.g. "192.168.200.1". As netmask use "255.255.255.0" and leave "Gateway" empty or zeros.
+In "IPv6" settings choose "Method" "Ignore".
+Done. It should connect automatically anytime when the laser is connected.
+==== Documentation ====
+One of our students was working on creating a map of the hallway using the little robots. Here's a PDF with some documentation of the mapping process and also the robot itself.
+{{:software:finaltortugabotpaper.pdf|}}