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--- software:tortugabot_ros2 [2025/04/02 15:06] – s_fuyedc
+++ software:tortugabot_ros2 [2025/04/03 12:01] (current) – [Notes] s_fuyedc
@@ Line 45: / Line 45: @@
 ==== Hokuyo LAN Config ====
-When connecting the Hokuyo laser sensor via LAN, the connection must be configured manually. This way, the laptop can directly communicate with the LIDAR. Connect the Battery to the Tortugabot to give power to the Hokuyo LIDAR, then connect it via LAN to this laptop. Open Wired Settings and configure the profile. Set IPv4 to Manual and give it an IP and Submask.
+When connecting the Hokuyo laser sensor via LAN, the connection must be configured manually. This way, the laptop can directly communicate with the LIDAR. Connect the Battery to the Tortugabot to give power to the Hokuyo LIDAR, then connect it via LAN to this laptop. Open Wired Settings and configure the profile. Set IPv4 to Manual and give it an IP and Submask. Without the Gateway the connection is dropped after a while.
-{{:software:hokuyo_setup.png?800|}}
+{{:software:hokuyo_w_gateway.png?800|}}
-Dropped connection after a while can be solved by giving a Gateway with 192.168.0.1
 ==== DS3 Controller Bluetooth Setup ====
@@ Line 206: / Line 205: @@
-=== Notes ===
+===== Notes =====
 <code>
@@ Line 215: / Line 214: @@
 sudo apt update
 sudo apt upgrade
-sudo apt install vim
+nano .bashrc
-vim .bashrc
 # into .bashrc
@@ Line 230: / Line 228: @@
 # Add user to dialout
 sudo adduser $USER dialout
+sudo adduser $USER roscourse
 sudo adduser roscourse dialout
@@ Line 240: / Line 239: @@
 ###
+</code>
-# Set up workspace on turtle
+Install ROS tools, init rosdep and give sudo user arthur access to roscourse files.
+<code>
+# user: sudo
+sudo apt install ros-dev-tools ros-jazzy-topic-tools
+sudo rosdep init
+</code>
+Set up workspace on turtle
+<code>
+# user: roscourse
 mkdir -p ~/tortugabot_ws/src
 cd ~/tortugabot_ws/src
+</code>
-sudo apt install ros-dev-tools
+Get repositories
-#~/tortugabot_ws/src/tortugabot.repos
-repositories:
-  roboclaw_ros:
-    type: git
-    url: https://github.com/code-iai/roboclaw_ros.git
-    version: ros2
-  urg_node2:
-    type: git
-    url: https://github.com/code-iai/urg_node2.git
-    version: main
-# Clone repositories
+<code>
+# user: roscourse
+curl https://raw.githubusercontent.com/code-iai/tortugabot/refs/heads/ros2/tortugabot.repos > tortugabot.repos
 vcs import --recursive < tortugabot.repos
+rosdep update
+</code>
+Install dependencies
+<code>
+# user: sudo
+rosdep install -i --from-path /home/roscourse/tortugabot_ws/src --rosdistro jazzy
+</code>
-# allow arthur to see roscourse
+Build the workspace and source the executables.
-sudo adduser arthur roscourse
-# sudo
+<code>
-sudo rosdep init
+# user: roscourse
-rosdep update
+cd ~/tortugabot_ws
-rosdep install -i --from-path . --rosdistro jazzy
-#roscourse
-cd ..
 colcon build
 source install/setup.bash
+echo 'source /home/roscourse/tortugabot_ws/install/setup.bash' >> ~/.bashrc
+</code>
+Run the nodes in separate terminals
+<code>
 # roboclaw
 ros2 launch roboclaw_node roboclaw_launch.py
@@ Line 285: / Line 294: @@
 ros2 launch urg_node2 urg_node2.launch.py
-# transform odom < laser
+# Throttle laser frequency to 10 hz
+ros2 run topic_tools throttle messages /scan 10.0
+# transform base_footprint < laser
 ros2 run tf2_ros static_transform_publisher --frame-id base_footprint --child-frame-id laser
 </code>