tlkh / turtlebot-test

Turtlebot Demo

Usage

1. Start ROS Components

These are used to interface with and control the Turtlebot.

Open a new Terminal/SSH connection and run:

roslaunch turtlebot_bringup minimal.launch

This stats the ROS main core and initializes the Turtlebot. You should hear a startup tone.

A. Keyboard Operation

Open a new Terminal/SSH connection and run:

roslaunch turtlebot_teleop keyboard_teleop.launch

B. Joystick Operation

Open a new Terminal/SSH connection and run:

roslaunch turtlebot_teleop logitech.launch

2. Start Video Stream

Open a new Terminal/SSH connection and run:

# get IP address
ip a | grep inet

# start web server
python3 server.py

Navigate to your Jetson's IP address (port 5000) and you should see the video stream.

Installation

1. Flash JetPack 4.3 onto Jetson device
2. Install ROS (https://www.jetsonhacks.com/2019/10/23/install-ros-on-jetson-nano/)
3. Run install_turtlebot.sh (TODO: fix OpenCV version)
4. TODO: joystick instructions
5. Install jetson-inference (https://github.com/dusty-nv/jetson-inference)
6. Install requirements.txt
7. Add source ~/workspace/devel/setup.bash to last line in ~/.bashrc

Useful commands

# running ROS stuff
source ~/workspace/devel/setup.bash
roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_teleop keyboard_teleop.launch
roslaunch turtlebot_teleop logitech.launch

# joystick op
ls -l /dev/input/
sudo jstest /dev/input/js0
sudo chmod a+rw /dev/input/js0
rosparam set joy_node/dev "/dev/input/js0"
rosrun joy joy_node
rostopic echo joy