TurtleBot-20.04

This guide assumes you are on an ubuntu machine and that your turtlebot has a RasPi 3B/3B+. This will walk you through the process of getting a turtlebot3 running Ubuntu 20.04 with ROS Noetic and the required firmware. You will need a microSD card that is at least 16GB.

First plug in the microSD card to your computer. Download balena etcher and the robotis 3b+ noetic image and run Balena. Click Flash from file, then navigate to and select the .zip file you juse downloaded. Then click select target and select the microSD card, and hit flash. It should take ~15 minutes to flash and verify the image.

Once you have the image flashed open a terminal and open the .yaml file in the netplan directory.

1. Mount the SD card in nauilus
2. cd /media/$USER/writable/etc/netplan
3. sudo nano 50-cloud-init.yaml

Then replace WIFI_SSID with RBE and WIFI_PASSWORD with elm69wisest16poisoned. This will set the turtlebot up to connect to the RBE wifi network local to ak120d. Then save and close the nano window. Now eject the microSD card and put it in the turtlebot.

Turn the turtlebot on and ssh into it with ssh ubuntu@<TURTLEBOT_NAME>.dyn.wpi.edu, where <TURTLEBOT_NAME>” is the name written on the turtlebot.

Example: Turtlebot: Mario ssh ubuntu@mario.dyn.wpi.edu

The password to connect is turtlebot.

You are now ssh'ed into the turtlebot. The beginning of your terminal should say ubuntu@ubuntu

Open the .bashrc file with vim ~/.bashrc. In the line export ROS_HOSTNAME={IP_ADDRESS_OF_RASBERRY_PI_3} replace {IP_ADDRESS_OF_RASBERRY_PI_3} with <TURTLEBOT_NAME>.dyn.wpi.edu, using the same name used to ssh. Below that line add OPENCR_PORT=/dev/ttyACM0 and OPENCR_MODEL=burger_noetic. Save the file and exit vim then source the .bashrc file.

1. Press Esc
2. Press : + enter
3. Press wq + enter
4. Run sb in the command window

Now set the timezone to EST using timedatectl set-timezone America/New_York. Then set the current date using sudo ntpdate -s ntp1.wpi.edu. Verify the datetime by running date.

Next install the required firmware by running the below commands:

1. sudo dpkg –add-architecture armhf
2. sudo apt update
3. sudo apt install libc6:armhf
4. rm -rf ./opencr_update.tar.bz2
5. wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS1/latest/opencr_update.tar.bz2
6. tar -xvf opencr_update.tar.bz2
7. cd ./opencr_update
8. ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr

If this install completes successfully, then run the below commands to setup the catkin workspace:

1. cd ~/catkin_ws
2. rm -rf build devel
3. catkin_make

If the catkin_make completes then the turtlebot is fully setup to be used for RBE 3002