06-2장 Turtlebot(bringup)

1. Bringup [TurtleBot3]

1 launch.py 실행

$ ros2 launch turtlebot3_bringup robot.launch.py

#실행 결과
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2019-08-19-01-24-19-009803-ubuntu-15310
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_burger.urdf
[INFO] [robot_state_publisher-1]: process started with pid [15320]
[INFO] [hlds_laser_publisher-2]: process started with pid [15321]
[INFO] [turtlebot3_ros-3]: process started with pid [15322]
[robot_state_publisher-1] Initialize urdf model from file: /home/ubuntu/turtlebot_ws/install/turtlebot3_description/share/turtlebot3_description/urdf/turtlebot3_burger.urdf
[robot_state_publisher-1] Parsing robot urdf xml string.
[robot_state_publisher-1] Link base_link had 5 children
[robot_state_publisher-1] Link caster_back_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link base_scan had 0 children
[robot_state_publisher-1] Link wheel_left_link had 0 children
[robot_state_publisher-1] Link wheel_right_link had 0 children
[robot_state_publisher-1] got segment base_footprint
[robot_state_publisher-1] got segment base_link
[robot_state_publisher-1] got segment base_scan
[robot_state_publisher-1] got segment caster_back_link
[robot_state_publisher-1] got segment imu_link
[robot_state_publisher-1] got segment wheel_left_link
[robot_state_publisher-1] got segment wheel_right_link
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init TurtleBot3 Node Main
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Init DynamixelSDKWrapper
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to open the port(/dev/ttyACM0)!
[turtlebot3_ros-3] [INFO] [DynamixelSDKWrapper]: Succeeded to change the baudrate!
[robot_state_publisher-1] Adding fixed segment from base_footprint to base_link
[robot_state_publisher-1] Adding fixed segment from base_link to caster_back_link
[robot_state_publisher-1] Adding fixed segment from base_link to imu_link
[robot_state_publisher-1] Adding fixed segment from base_link to base_scan
[robot_state_publisher-1] Adding moving segment from base_link to wheel_left_link
[robot_state_publisher-1] Adding moving segment from base_link to wheel_right_link
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Start Calibration of Gyro
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Calibration End
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Motors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Wheels
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Sensors
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create battery state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create imu publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sensor state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create joint state publisher
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Add Devices
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create motor power server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create reset server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Succeeded to create sound server
[turtlebot3_ros-3] [INFO] [turtlebot3_node]: Run!
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Init Odometry
[turtlebot3_ros-3] [INFO] [diff_drive_controller]: Run!

2. topic list 확인

$ ros2 topic list

#실행 결과
  /battery_state
  /cmd_vel
  /imu
  /joint_states
  /magnetic_field
  /odom
  /parameter_events
  /robot_description
  /rosout
  /scan
  /sensor_state
  /tf
  /tf_static

3. service list 확인

$ ros2 service list

#실행 결과
  /diff_drive_controller/describe_parameters
  /diff_drive_controller/get_parameter_types
  /diff_drive_controller/get_parameters
  /diff_drive_controller/list_parameters
  /diff_drive_controller/set_parameters
  /diff_drive_controller/set_parameters_atomically
  /hlds_laser_publisher/describe_parameters
  /hlds_laser_publisher/get_parameter_types
  /hlds_laser_publisher/get_parameters
  /hlds_laser_publisher/list_parameters
  /hlds_laser_publisher/set_parameters
  /hlds_laser_publisher/set_parameters_atomically
  /launch_ros/describe_parameters
  /launch_ros/get_parameter_types
  /launch_ros/get_parameters
  /launch_ros/list_parameters
  /launch_ros/set_parameters
  /launch_ros/set_parameters_atomically
  /motor_power
  /reset
  /sound
  /turtlebot3_node/describe_parameters
  /turtlebot3_node/get_parameter_types
  /turtlebot3_node/get_parameters
  /turtlebot3_node/list_parameters
  /turtlebot3_node/set_parameters
  /turtlebot3_node/set_parameters_atomically

2. Load TurtleBot3 on Rviz2 [Remote PC]

$ ros2 launch turtlebot3_bringup rviz2.launch.py