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masuko-shingo / jetson-nano

自分用jetsonnanoの記録
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turtlebot3_bringupでエラーが出る #4

Closed masuko-shingo closed 2 years ago

masuko-shingo commented 3 years ago

目的

PCからJetsonnanoにssh通信でbringupを行い、turtlebot3を動かそうとした

現状

PCから

$roscore
$ssh jetsonnano@10.0.0.137

を実行し、Jetsonnnanoにssh通信

$roslaunch turtlebot3_bringup turtlebot3_robot.launch

結果

$roslaunch turtlebot3_bringup turtlebot3_robot.launch

... logging to /home/jetsonnano/.ros/log/7efac736-e551-11eb-9fe3-7c7635a4ab69/roslaunch-jetsonnano-desktop-10612.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.0.0.137:34561/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /turtlebot3_core/baud: 115200
 * /turtlebot3_core/port: /dev/ttyACM0
 * /turtlebot3_core/tf_prefix: 
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

NODES
  /
    turtlebot3_core (rosserial_python/serial_node.py)
    turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://10.0.0.68:11311

process[turtlebot3_core-1]: started with pid [10621]
process[turtlebot3_lds-2]: started with pid [10622]
process[turtlebot3_diagnostics-3]: started with pid [10623]
[ERROR] [1626342467.757634459]: An exception was thrown: open: No such file or directory
[turtlebot3_lds-2] process has died [pid 10622, exit code 255, cmd /opt/ros/melodic/lib/hls_lfcd_lds_driver/hlds_laser_publisher __name:=turtlebot3_lds __log:=/home/jetsonnano/.ros/log/7efac736-e551-11eb-9fe3-7c7635a4ab69/turtlebot3_lds-2.log].
log file: /home/jetsonnano/.ros/log/7efac736-e551-11eb-9fe3-7c7635a4ab69/turtlebot3_lds-2*.log
[INFO] [1626342468.375278]: ROS Serial Python Node
[INFO] [1626342468.416968]: Connecting to /dev/ttyACM0 at 115200 baud
[ERROR] [1626342468.436630]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'
[ERROR] [1626342471.450782]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'
[ERROR] [1626342474.727178]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'
^C[turtlebot3_diagnostics-3] killing on exit
[turtlebot3_core-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
masuko-shingo commented 3 years ago

https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/issues/38 を参考に、

$sudo chmod a+rw /dev/ttyACM0

を実行した

結果

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
... logging to /home/jetsonnano/.ros/log/7efac736-e551-11eb-9fe3-7c7635a4ab69/roslaunch-jetsonnano-desktop-12011.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

RLException: Unable to contact my own server at [http://10.0.0.137:45289/].
This usually means that the network is not configured properly.

A common cause is that the machine cannot connect to itself.  Please check
for errors by running:

    ping 10.0.0.137

For more tips, please see

    http://wiki.ros.org/ROS/NetworkSetup

The traceback for the exception was written to the log file
masuko-shingo commented 3 years ago

.bashrcファイル内

export ROS_HOSTNAME=IPアドレス

という行のIPアドレスが変わっていたので、

$ifconfig

で確認して、変更

$source ~/.bashrc

で反映させ、再度bringup

結果

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
... logging to /home/jetsonnano/.ros/log/7efac736-e551-11eb-9fe3-7c7635a4ab69/roslaunch-jetsonnano-desktop-13087.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.0.0.139:42089/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /turtlebot3_core/baud: 115200
 * /turtlebot3_core/port: /dev/ttyACM0
 * /turtlebot3_core/tf_prefix: 
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

NODES
  /
    turtlebot3_core (rosserial_python/serial_node.py)
    turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://10.0.0.68:11311

process[turtlebot3_core-1]: started with pid [13099]
process[turtlebot3_lds-2]: started with pid [13100]
process[turtlebot3_diagnostics-3]: started with pid [13101]
[ERROR] [1626345309.846714878]: An exception was thrown: open: No such file or directory
[turtlebot3_lds-2] process has died [pid 13100, exit code 255, cmd /opt/ros/melodic/lib/hls_lfcd_lds_driver/hlds_laser_publisher __name:=turtlebot3_lds __log:=/home/jetsonnano/.ros/log/7efac736-e551-11eb-9fe3-7c7635a4ab69/turtlebot3_lds-2.log].
log file: /home/jetsonnano/.ros/log/7efac736-e551-11eb-9fe3-7c7635a4ab69/turtlebot3_lds-2*.log
[INFO] [1626345310.497268]: ROS Serial Python Node
[INFO] [1626345310.582266]: Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [1626345312.720953]: Requesting topics...
[INFO] [1626345312.823183]: Note: publish buffer size is 1024 bytes
[INFO] [1626345312.834796]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]
[INFO] [1626345312.868619]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo]
[INFO] [1626345313.187487]: Setup publisher on imu [sensor_msgs/Imu]
[INFO] [1626345313.208914]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]
[INFO] [1626345313.335976]: Setup publisher on odom [nav_msgs/Odometry]
[INFO] [1626345313.363115]: Setup publisher on joint_states [sensor_msgs/JointState]
[INFO] [1626345313.389423]: Setup publisher on battery_state [sensor_msgs/BatteryState]
[INFO] [1626345313.406585]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]
[INFO] [1626345315.035372]: Setup publisher on /tf [tf/tfMessage]
[INFO] [1626345315.061384]: Note: subscribe buffer size is 1024 bytes
[INFO] [1626345315.069893]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[INFO] [1626345315.105813]: Setup subscriber on sound [turtlebot3_msgs/Sound]
[INFO] [1626345315.134112]: Setup subscriber on motor_power [std_msgs/Bool]
[INFO] [1626345315.156115]: Setup subscriber on reset [std_msgs/Empty]
[INFO] [1626345315.940677]: Setup TF on Odometry [odom]
[INFO] [1626345315.955108]: Setup TF on IMU [imu_link]
[INFO] [1626345315.968626]: Setup TF on MagneticField [mag_link]
[INFO] [1626345315.987651]: Setup TF on JointState [base_link]
[INFO] [1626345316.023081]: --------------------------
[INFO] [1626345316.039965]: Connected to OpenCR board!
[INFO] [1626345316.054918]: This core(v1.2.2) is compatible with TB3 Burger
[INFO] [1626345316.073197]: --------------------------
[INFO] [1626345316.085059]: Start Calibration of Gyro
[INFO] [1626345318.505521]: Calibration End

おそらくこのエラーはturtlebot3のLiDARセンサーをjetsonnanoに接続していないためのもの。 接続して再度bringupする。

masuko-shingo commented 3 years ago

LiDARセンサーを接続し、再度bringup

$roslaunch turtlebot3_bringup turtlebot3_robot.launch
... logging to /home/jetsonnano/.ros/log/09e74f06-e609-11eb-9d24-7c7635a4ab69/roslaunch-jetsonnano-desktop-10216.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.0.0.139:35613/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /turtlebot3_core/baud: 115200
 * /turtlebot3_core/port: /dev/ttyACM0
 * /turtlebot3_core/tf_prefix: 
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

NODES
  /
    turtlebot3_core (rosserial_python/serial_node.py)
    turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://10.0.0.68:11311

process[turtlebot3_core-1]: started with pid [10232]
process[turtlebot3_lds-2]: started with pid [10233]
process[turtlebot3_diagnostics-3]: started with pid [10234]
[ERROR] [1626421610.469440797]: An exception was thrown: open: Permission denied
[turtlebot3_lds-2] process has died [pid 10233, exit code 255, cmd /opt/ros/melodic/lib/hls_lfcd_lds_driver/hlds_laser_publisher __name:=turtlebot3_lds __log:=/home/jetsonnano/.ros/log/09e74f06-e609-11eb-9d24-7c7635a4ab69/turtlebot3_lds-2.log].
log file: /home/jetsonnano/.ros/log/09e74f06-e609-11eb-9d24-7c7635a4ab69/turtlebot3_lds-2*.log
[INFO] [1626421611.363909]: ROS Serial Python Node
[INFO] [1626421611.407485]: Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [1626421613.536439]: Requesting topics...
[INFO] [1626421613.823650]: Note: publish buffer size is 1024 bytes
[INFO] [1626421613.830447]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]
[INFO] [1626421613.845376]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo]
[INFO] [1626421614.075565]: Setup publisher on imu [sensor_msgs/Imu]
[INFO] [1626421614.091116]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]
[INFO] [1626421614.185780]: Setup publisher on odom [nav_msgs/Odometry]
[INFO] [1626421614.200207]: Setup publisher on joint_states [sensor_msgs/JointState]
[INFO] [1626421614.213947]: Setup publisher on battery_state [sensor_msgs/BatteryState]
[INFO] [1626421614.226899]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]
[INFO] [1626421615.631526]: Setup publisher on /tf [tf/tfMessage]
[INFO] [1626421615.668399]: Note: subscribe buffer size is 1024 bytes
[INFO] [1626421615.680326]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[INFO] [1626421615.711043]: Setup subscriber on sound [turtlebot3_msgs/Sound]
[INFO] [1626421615.749682]: Setup subscriber on motor_power [std_msgs/Bool]
[INFO] [1626421615.782655]: Setup subscriber on reset [std_msgs/Empty]
[INFO] [1626421617.181258]: Setup TF on Odometry [odom]
[INFO] [1626421617.194231]: Setup TF on IMU [imu_link]
[INFO] [1626421617.205833]: Setup TF on MagneticField [mag_link]
[INFO] [1626421617.227938]: Setup TF on JointState [base_link]
[INFO] [1626421617.255025]: --------------------------
[INFO] [1626421617.268797]: Connected to OpenCR board!
[INFO] [1626421617.285493]: This core(v1.2.2) is compatible with TB3 Burger
[INFO] [1626421617.300717]: --------------------------
[INFO] [1626421617.315733]: Start Calibration of Gyro
[INFO] [1626421619.748298]: Calibration End

LiDARセンサーをjetsonnanoに接続し、再度bringupしたところ、 エラーメッセージは変わら無いという結果だった。

OpenCRから同じ高さのブザー音三回が鳴り始めた。 おそらくバッテリーの電圧が一定以下になることによるブザーだと思うが、 -今の所、Jetsonnano、OpenCR、LiDARセンサを接続して、LiPoバッテリから給電する方法を取ると、必ずブザー音が鳴る気がする。-

masuko-shingo commented 3 years ago

https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver/issues/36 このサイトはkineticの環境だが、似たようなエラーメッセージだったので参考にした。 Jetsonnano内のcatkin_ws/srcにturtlebot3のパッケージが何故か無かったので、cloneした後lidarのbringupを行った。

$ cd ~/catkin_ws/src
$ git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
$roslaunch turtlebot3_bringup turtlebot3_lidar.launch 
... logging to /home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/roslaunch-jetsonnano-desktop-16000.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.0.0.140:41191/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

NODES
  /
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://10.0.0.68:11311

ERROR: cannot launch node of type [hls_lfcd_lds_driver/hlds_laser_publisher]: Cannot locate node of type [hlds_laser_publisher] in package [hls_lfcd_lds_driver]. Make sure file exists in package path and permission is set to executable (chmod +x)
No processes to monitor
shutting down processing monitor...
... shutting down processing monitor complete

https://emanual.robotis.com/docs/en/platform/turtlebot3/faq/#faq を参考に 14.8. ソフトウェアの更新を行って、再度bringup

masuko-shingo commented 3 years ago

https://emanual.robotis.com/docs/en/platform/turtlebot3/faq/#faq を参考に 14.8. ソフトウェアの更新を行い、buildもエラーなく終了した 再度bringup

roslaunch turtlebot3_bringup turtlebot3_lidar.launch 
... logging to /home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/roslaunch-jetsonnano-desktop-18171.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://10.0.0.140:38345/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

NODES
  /
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://10.0.0.68:11311

process[turtlebot3_lds-1]: started with pid [18184]
[ERROR] [1626431163.641726126]: An exception was thrown: open: Permission denied
[turtlebot3_lds-1] process has died [pid 18184, exit code 255, cmd /home/jetsonnano/catkin_ws/devel/lib/hls_lfcd_lds_driver/hlds_laser_publisher __name:=turtlebot3_lds __log:=/home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/turtlebot3_lds-1.log].
log file: /home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/turtlebot3_lds-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

エラーメッセージを翻訳して読んでいなかったため、翻訳にかける

[エラー] [1626342468.436630]：シリアルを開くときにエラーが発生しました：[Errno13]はポート/ dev / ttyACM0を開くことができませんでした：[Errno 13]アクセスが拒否されました： '/ dev / ttyACM0'

おそらく、USBの権限周り？ 先生が提示したコマンドを試す

$sudo chmod 777 /dev/ttyACM0

結果、エラーメッセージ変わらず

masuko-shingo commented 3 years ago

先生の指摘どおりログファイルを確認しようとする

$ cd /home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69
$ ls
roslaunch-jetsonnano-desktop-15887.log  roslaunch-jetsonnano-desktop-18211.log  roslaunch-jetsonnano-desktop-18681.log
roslaunch-jetsonnano-desktop-16000.log  roslaunch-jetsonnano-desktop-18259.log  roslaunch-jetsonnano-desktop-18728.log
roslaunch-jetsonnano-desktop-18171.log  roslaunch-jetsonnano-desktop-18479.log  turtlebot3_core-1.log
$ cat turtlebot3_lds-1*.log
cat: 'turtlebot3_lds-1*.log': No such file or directory

隠しファイル？

$ ls -a
.                                       roslaunch-jetsonnano-desktop-18171.log  roslaunch-jetsonnano-desktop-18681.log
..                                      roslaunch-jetsonnano-desktop-18211.log  roslaunch-jetsonnano-desktop-18728.log
roslaunch-jetsonnano-desktop-15887.log  roslaunch-jetsonnano-desktop-18259.log  turtlebot3_core-1.log
roslaunch-jetsonnano-desktop-16000.log  roslaunch-jetsonnano-desktop-18479.log

違うらしい turtlebot3_lds-1*.logが見つからない ソフトウェアの更新全部やっていない？

masuko-shingo commented 3 years ago

先生のご指摘どおりログファイルを参照しようとしたのですが、

$ cd /home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69
$ ls
roslaunch-jetsonnano-desktop-15887.log  roslaunch-jetsonnano-desktop-18211.log  roslaunch-jetsonnano-desktop-18681.log
roslaunch-jetsonnano-desktop-16000.log  roslaunch-jetsonnano-desktop-18259.log  roslaunch-jetsonnano-desktop-18728.log
roslaunch-jetsonnano-desktop-18171.log  roslaunch-jetsonnano-desktop-18479.log  turtlebot3_core-1.log```
$ ls -a
.                                       roslaunch-jetsonnano-desktop-18171.log  roslaunch-jetsonnano-desktop-18681.log
..                                      roslaunch-jetsonnano-desktop-18211.log  roslaunch-jetsonnano-desktop-18728.log
roslaunch-jetsonnano-desktop-15887.log  roslaunch-jetsonnano-desktop-18259.log  turtlebot3_core-1.log
roslaunch-jetsonnano-desktop-16000.log  roslaunch-jetsonnano-desktop-18479.log

turtlebot3_lds-1*.logファイルが見つかりませんでした。 とりあえず、ログファイルを閲覧しましたが、

$ cat roslaunch-jetsonnano-desktop-18171.log
[roslaunch][INFO] 2021-07-16 19:26:01,355: Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2021-07-16 19:26:01,369: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2021-07-16 19:26:01,369: roslaunch starting with args ['/opt/ros/melodic/bin/roslaunch', 'turtlebot3_bringup', 'turtlebot3_lidar.launch']
[roslaunch][INFO] 2021-07-16 19:26:01,370: roslaunch env is {'LC_NUMERIC': 'ja_JP.UTF-8', 'ROS_DISTRO': 'melodic', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'ROS_HOSTNAME': '10.0.0.140', 'SSH_CLIENT': '10.0.0.68 43624 22', 'LOGNAME': 'jetsonnano', 'USER': 'jetsonnano', 'PATH': '/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'LC_PAPER': 'ja_JP.UTF-8', 'HOME': '/home/jetsonnano', 'CMAKE_PREFIX_PATH': '/home/jetsonnano/catkin_ws/devel:/opt/ros/melodic', 'LD_LIBRARY_PATH': '/home/jetsonnano/catkin_ws/devel/lib:/opt/ros/melodic/lib', 'LANG': 'en_US.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LC_MEASUREMENT': 'ja_JP.UTF-8', 'ROS_LOG_FILENAME': '/home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/roslaunch-jetsonnano-desktop-18171.log', 'ROS_MASTER_URI': 'http://10.0.0.68:11311', 'TURTLEBOT3_MODEL': 'burger', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_ADDRESS': 'ja_JP.UTF-8', 'PYTHONPATH': '/opt/ros/melodic/lib/python2.7/dist-packages', 'SHLVL': '1', 'ROS_ROOT': '/opt/ros/melodic/share/ros', 'XDG_DATA_DIRS': '/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'PKG_CONFIG_PATH': '/opt/ros/melodic/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/jetsonnano/catkin_ws/src:/opt/ros/melodic/share', 'XDG_SESSION_ID': '7', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', '_': '/opt/ros/melodic/bin/roslaunch', 'LC_IDENTIFICATION': 'ja_JP.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'SSH_TTY': '/dev/pts/2', 'OLDPWD': '/home/jetsonnano/catkin_ws', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/jetsonnano/catkin_ws/devel/share/common-lisp', 'LC_TELEPHONE': 'ja_JP.UTF-8', 'LC_MONETARY': 'ja_JP.UTF-8', 'PWD': '/home/jetsonnano', 'ROS_ETC_DIR': '/opt/ros/melodic/etc/ros', 'ROS_PYTHON_VERSION': '2', 'ROS_VERSION': '1', 'LC_NAME': 'ja_JP.UTF-8', 'MAIL': '/var/mail/jetsonnano', 'LC_TIME': 'ja_JP.UTF-8', 'SSH_CONNECTION': '10.0.0.68 43624 10.0.0.140 22'}
[roslaunch][INFO] 2021-07-16 19:26:01,370: starting in server mode
[roslaunch.parent][INFO] 2021-07-16 19:26:01,370: starting roslaunch parent run
[roslaunch][INFO] 2021-07-16 19:26:01,371: loading roscore config file /opt/ros/melodic/etc/ros/roscore.xml
[roslaunch][INFO] 2021-07-16 19:26:03,060: Added core node of type [rosout/rosout] in namespace [/]
[roslaunch.config][INFO] 2021-07-16 19:26:03,061: loading config file /home/jetsonnano/catkin_ws/src/turtlebot3/turtlebot3_bringup/launch/turtlebot3_lidar.launch
[roslaunch][INFO] 2021-07-16 19:26:03,063: Added node of type [hls_lfcd_lds_driver/hlds_laser_publisher] in namespace [/]
[roslaunch][INFO] 2021-07-16 19:26:03,064: ... selected machine [] for node of type [hls_lfcd_lds_driver/hlds_laser_publisher]
[roslaunch.pmon][INFO] 2021-07-16 19:26:03,067: start_process_monitor: creating ProcessMonitor
[roslaunch.pmon][INFO] 2021-07-16 19:26:03,068: created process monitor <ProcessMonitor(ProcessMonitor-1, initial daemon)>
[roslaunch.pmon][INFO] 2021-07-16 19:26:03,068: start_process_monitor: ProcessMonitor started
[roslaunch.parent][INFO] 2021-07-16 19:26:03,069: starting parent XML-RPC server
[roslaunch.server][INFO] 2021-07-16 19:26:03,069: starting roslaunch XML-RPC server
[roslaunch.server][INFO] 2021-07-16 19:26:03,069: waiting for roslaunch XML-RPC server to initialize
[xmlrpc][INFO] 2021-07-16 19:26:03,070: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2021-07-16 19:26:03,070: Started XML-RPC server [http://10.0.0.140:38345/]
[xmlrpc][INFO] 2021-07-16 19:26:03,071: xml rpc node: starting XML-RPC server
[roslaunch][INFO] 2021-07-16 19:26:03,084: started roslaunch server http://10.0.0.140:38345/
[roslaunch.parent][INFO] 2021-07-16 19:26:03,084: ... parent XML-RPC server started
[roslaunch][INFO] 2021-07-16 19:26:03,085: master.is_running[http://10.0.0.68:11311]
[roslaunch][INFO] 2021-07-16 19:26:03,342: master.is_running[http://10.0.0.68:11311]
[roslaunch][INFO] 2021-07-16 19:26:03,355: ROS_MASTER_URI=http://10.0.0.68:11311
[roslaunch][INFO] 2021-07-16 19:26:03,384: setting /roslaunch/uris/host_10_0_0_140__38345' to http://10.0.0.140:38345/
[roslaunch][INFO] 2021-07-16 19:26:03,393: load_parameters starting ...
[roslaunch][INFO] 2021-07-16 19:26:03,424: ... load_parameters complete
[roslaunch][INFO] 2021-07-16 19:26:03,424: launch_nodes: launching local nodes ...
[roslaunch][INFO] 2021-07-16 19:26:03,425: ... preparing to launch node of type [hls_lfcd_lds_driver/hlds_laser_publisher]
[roslaunch][INFO] 2021-07-16 19:26:03,426: create_node_process: package[hls_lfcd_lds_driver] type[hlds_laser_publisher] machine[Machine(name[] env_loader[None] address[localhost] ssh_port[22] user[None] assignable[True] timeout[10.0])] master_uri[http://10.0.0.68:11311]
[roslaunch][INFO] 2021-07-16 19:26:03,427: process[turtlebot3_lds-1]: env[{'LC_NUMERIC': 'ja_JP.UTF-8', 'ROS_DISTRO': 'melodic', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'ROS_HOSTNAME': '10.0.0.140', 'SSH_CLIENT': '10.0.0.68 43624 22', 'LOGNAME': 'jetsonnano', 'USER': 'jetsonnano', 'PATH': '/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin', 'LC_PAPER': 'ja_JP.UTF-8', 'HOME': '/home/jetsonnano', 'CMAKE_PREFIX_PATH': '/home/jetsonnano/catkin_ws/devel:/opt/ros/melodic', 'ROS_LOG_FILENAME': '/home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/roslaunch-jetsonnano-desktop-18171.log', 'LANG': 'en_US.UTF-8', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'LC_MEASUREMENT': 'ja_JP.UTF-8', 'LD_LIBRARY_PATH': '/home/jetsonnano/catkin_ws/devel/lib:/opt/ros/melodic/lib', 'ROS_ETC_DIR': '/opt/ros/melodic/etc/ros', 'TURTLEBOT3_MODEL': 'burger', 'LC_MONETARY': 'ja_JP.UTF-8', 'XDG_RUNTIME_DIR': '/run/user/1000', 'LC_ADDRESS': 'ja_JP.UTF-8', 'PYTHONPATH': '/opt/ros/melodic/lib/python2.7/dist-packages', 'ROS_ROOT': '/opt/ros/melodic/share/ros', 'XDG_DATA_DIRS': '/usr/local/share:/usr/share:/var/lib/snapd/desktop', 'PKG_CONFIG_PATH': '/opt/ros/melodic/lib/pkgconfig', 'ROS_PACKAGE_PATH': '/home/jetsonnano/catkin_ws/src:/opt/ros/melodic/share', 'XDG_SESSION_ID': '7', 'DBUS_SESSION_BUS_ADDRESS': 'unix:path=/run/user/1000/bus', '_': '/opt/ros/melodic/bin/roslaunch', 'LC_IDENTIFICATION': 'ja_JP.UTF-8', 'SSH_CONNECTION': '10.0.0.68 43624 10.0.0.140 22', 'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'SSH_TTY': '/dev/pts/2', 'OLDPWD': '/home/jetsonnano/catkin_ws', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/jetsonnano/catkin_ws/devel/share/common-lisp', 'LC_TELEPHONE': 'ja_JP.UTF-8', 'SHLVL': '1', 'PWD': '/home/jetsonnano', 'ROS_MASTER_URI': 'http://10.0.0.68:11311', 'ROS_PYTHON_VERSION': '2', 'ROS_VERSION': '1', 'LC_NAME': 'ja_JP.UTF-8', 'MAIL': '/var/mail/jetsonnano', 'LC_TIME': 'ja_JP.UTF-8', 'LS_COLORS': 'rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.Z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:'}]
[roslaunch][INFO] 2021-07-16 19:26:03,559: process[turtlebot3_lds-1]: args[[u'/home/jetsonnano/catkin_ws/devel/lib/hls_lfcd_lds_driver/hlds_laser_publisher', u'__name:=turtlebot3_lds']]
[roslaunch][INFO] 2021-07-16 19:26:03,560: ... created process [turtlebot3_lds-1]
[roslaunch.pmon][INFO] 2021-07-16 19:26:03,560: ProcessMonitor.register[turtlebot3_lds-1]
[roslaunch.pmon][INFO] 2021-07-16 19:26:03,561: ProcessMonitor.register[turtlebot3_lds-1] complete
[roslaunch][INFO] 2021-07-16 19:26:03,561: ... registered process [turtlebot3_lds-1]
[roslaunch][INFO] 2021-07-16 19:26:03,561: process[turtlebot3_lds-1]: starting os process
[roslaunch][INFO] 2021-07-16 19:26:03,561: process[turtlebot3_lds-1]: start w/ args [[u'/home/jetsonnano/catkin_ws/devel/lib/hls_lfcd_lds_driver/hlds_laser_publisher', u'__name:=turtlebot3_lds', u'__log:=/home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/turtlebot3_lds-1.log']]
[roslaunch][INFO] 2021-07-16 19:26:03,562: process[turtlebot3_lds-1]: cwd will be [/home/jetsonnano/.ros]
[roslaunch][INFO] 2021-07-16 19:26:03,574: process[turtlebot3_lds-1]: started with pid [18184]
[roslaunch][INFO] 2021-07-16 19:26:03,574: ... successfully launched [turtlebot3_lds-1]
[roslaunch][INFO] 2021-07-16 19:26:03,575: ... launch_nodes complete
[roslaunch.pmon][INFO] 2021-07-16 19:26:03,575: registrations completed <ProcessMonitor(ProcessMonitor-1, started daemon 548442747376)>
[roslaunch.parent][INFO] 2021-07-16 19:26:03,575: ... roslaunch parent running, waiting for process exit
[roslaunch][INFO] 2021-07-16 19:26:03,576: spin
[roslaunch][ERROR] 2021-07-16 19:26:04,082: [turtlebot3_lds-1] process has died [pid 18184, exit code 255, cmd /home/jetsonnano/catkin_ws/devel/lib/hls_lfcd_lds_driver/hlds_laser_publisher __name:=turtlebot3_lds __log:=/home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/turtlebot3_lds-1.log].
log file: /home/jetsonnano/.ros/log/daa0a00e-e61b-11eb-9d24-7c7635a4ab69/turtlebot3_lds-1*.log
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,085: ProcessMonitor.unregister[turtlebot3_lds-1] starting
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,087: ProcessMonitor.unregister[turtlebot3_lds-1] complete
[roslaunch][INFO] 2021-07-16 19:26:04,089: all processes on machine have died, roslaunch will exit
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,191: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 548442747376)>
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,196: ProcessMonitor._post_run <ProcessMonitor(ProcessMonitor-1, started daemon 548442747376)>: remaining procs are []
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,208: ProcessMonitor exit: cleaning up data structures and signals
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,210: ProcessMonitor exit: pmon has shutdown
[roslaunch][INFO] 2021-07-16 19:26:04,281: process monitor is done spinning, initiating full shutdown
[roslaunch][INFO] 2021-07-16 19:26:04,281: runner.stop()
[roslaunch][INFO] 2021-07-16 19:26:04,282: shutting down processing monitor...
[roslaunch][INFO] 2021-07-16 19:26:04,282: shutting down processing monitor <ProcessMonitor(ProcessMonitor-1, stopped daemon 548442747376)>
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,282: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 548442747376)>
[roslaunch][INFO] 2021-07-16 19:26:04,283: ... shutting down processing monitor complete
[roslaunch][INFO] 2021-07-16 19:26:04,283: done
[roslaunch.pmon][INFO] 2021-07-16 19:26:04,283: ProcessMonitor.shutdown <ProcessMonitor(ProcessMonitor-1, stopped daemon 548442747376)>
[rospy.core][INFO] 2021-07-16 19:26:04,284: signal_shutdown [atexit]

エラー部分のメッセージはlaunchのコマンドを実行した際と同じだと思います。

$ find -type f turtlebot3_lds-1*.log
find: paths must precede expression: `turtlebot3_lds-1*.log'

findコマンドで探してみようと試しましたが、どこのディレクトリにあるのかわからず、パスの指定ができないという状況です。

masuko-shingo commented 3 years ago

https://www.robotshop.com/media/files/pdf/robotis-360-laser-distance-sensor-lds-01-datasheet.pdf の

  1. 6.1.Installation

    $ sudo apt-get install ros-melodic-hls-lfcd-lds-driver

  2. 6.2. Set Permission for LDS-01

    $  sudo chmod a+rw /dev/ttyUSB0

    ※+は英字キーボードで、~

  3. 6.3. Run hlds_laser_publisher Node

    
$ roslaunch hls_lfcd_lds_driver hlds_laser.launch 
... logging to /home/jetsonnano/.ros/log/11b529d8-ee24-11eb-907d-7c7635a4ab69/roslaunch-jetsonnano-desktop-10669.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.57:38185/

SUMMARY

PARAMETERS

NODES / hlds_laser_publisher (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://192.168.0.42:11311

process[hlds_laser_publisher-1]: started with pid [10


23. 6.4. Run hlds_laser_publisher Node with RViz

$ roslaunch hls_lfcd_lds_driver view_hlds_laser.launch

## 結果

$ roslaunch hls_lfcd_lds_driver view_hlds_laser.launch ... logging to /home/jetsonnano/.ros/log/11b529d8-ee24-11eb-907d-7c7635a4ab69/roslaunch-jetsonnano-desktop-10620.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.57:36735/

SUMMARY

PARAMETERS

NODES / hlds_laser_publisher (hls_lfcd_lds_driver/hlds_laser_publisher) rviz (rviz/rviz)

ROS_MASTER_URI=http://192.168.0.42:11311

process[hlds_laser_publisher-1]: started with pid [10632] process[rviz-2]: started with pid [10633] [ WARN] [1627312750.574642726]: Shutdown request received. [ WARN] [1627312750.580273712]: Reason given for shutdown: [[/hlds_laser_publisher] Reason: new node registered with same name]


rvizが立ち上がり、ズームしていくと小さくturtlebotがあるのを確認
liderの値はよくわからなかった。
masuko-shingo commented 3 years ago
  1. 7.2. Build 
    $ cd ~/catkin_ws/src/hls_lfcd_lds_driver/applications/lds_driver
$ make
  2. 7.3. Run 
    $  ./lds_driver
r[359]=0.376000,r[358]=0.375000,r[357]=0.374000,r[356]=0.374000,r[355]=0.376000,r[354]=0.380000,r[353]=0.385000,r[352]=0.390000,r[351]=0.399000,r[350]=0.404000,r[349]=0.406000,r[348]=0.404000,r[347]=0.400000,r[346]=0.397000,r[345]=0.385000,r[344]=0.377000,r[343]=0.000000,r[342]=0.283000,r[341]=0.284000,r[340]=0.287000,r[339]=0.289000,r[338]=0.293000,r[337]=0.296000,r[336]=0.298000

    LiDARの値は取得できている。 launchファイルで、LiDARのbringupを試す

    
$ roslaunch turtlebot3_bringup turtlebot3_lidar.launch 
... logging to /home/jetsonnano/.ros/log/11b529d8-ee24-11eb-907d-7c7635a4ab69/roslaunch-jetsonnano-desktop-11343.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.57:40595/

SUMMARY

PARAMETERS

NODES / turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://192.168.0.42:11311

process[turtlebot3_lds-1]: started with pid [11352] ^C[turtlebot3_lds-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

bringupが成功  
LiDAR単体で動作することを確認できた。  
次にrobot全体のbringupを試す。

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch ... logging to /home/jetsonnano/.ros/log/11b529d8-ee24-11eb-907d-7c7635a4ab69/roslaunch-jetsonnano-desktop-11369.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.57:39297/

SUMMARY

PARAMETERS

NODES / turtlebot3_core (rosserial_python/serial_node.py) turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics) turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://192.168.0.42:11311

process[turtlebot3_core-1]: started with pid [11378] process[turtlebot3_lds-2]: started with pid [11379] process[turtlebot3_diagnostics-3]: started with pid [11380] [INFO] [1627315397.775510]: ROS Serial Python Node [INFO] [1627315397.807533]: Connecting to /dev/ttyACM0 at 115200 baud [ERROR] [1627315397.818044]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0' [ERROR] [1627315400.826432]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0' [ERROR] [1627315404.038773]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0' [ERROR] [1627315407.111743]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0' ^C[turtlebot3_diagnostics-3] killing on exit [turtlebot3_lds-2] killing on exit [turtlebot3_core-1] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

権限が無かったので、設定

$ sudo chmod 777 /dev/ttyACM0

設定後、再試行

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch ... logging to /home/jetsonnano/.ros/log/11b529d8-ee24-11eb-907d-7c7635a4ab69/roslaunch-jetsonnano-desktop-11413.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.57:42779/

SUMMARY

PARAMETERS

NODES / turtlebot3_core (rosserial_python/serial_node.py) turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics) turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://192.168.0.42:11311

process[turtlebot3_core-1]: started with pid [11422] process[turtlebot3_lds-2]: started with pid [11423] process[turtlebot3_diagnostics-3]: started with pid [11424] [INFO] [1627315454.303198]: ROS Serial Python Node [INFO] [1627315454.332666]: Connecting to /dev/ttyACM0 at 115200 baud [INFO] [1627315456.445938]: Requesting topics... [INFO] [1627315456.948794]: Note: publish buffer size is 1024 bytes [INFO] [1627315456.956190]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState] [INFO] [1627315456.973920]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo] [INFO] [1627315457.458830]: Setup publisher on imu [sensor_msgs/Imu] [INFO] [1627315457.471663]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist] [INFO] [1627315457.606183]: Setup publisher on odom [nav_msgs/Odometry] [INFO] [1627315457.617184]: Setup publisher on joint_states [sensor_msgs/JointState] [INFO] [1627315457.629138]: Setup publisher on battery_state [sensor_msgs/BatteryState] [INFO] [1627315457.641051]: Setup publisher on magnetic_field [sensor_msgs/MagneticField] [INFO] [1627315459.198663]: Setup publisher on /tf [tf/tfMessage] [INFO] [1627315459.214373]: Note: subscribe buffer size is 1024 bytes [INFO] [1627315459.226326]: Setup subscriber on cmd_vel [geometry_msgs/Twist] [INFO] [1627315459.243728]: Setup subscriber on sound [turtlebot3_msgs/Sound] [INFO] [1627315459.260640]: Setup subscriber on motor_power [std_msgs/Bool] [INFO] [1627315459.277870]: Setup subscriber on reset [std_msgs/Empty] [INFO] [1627315460.030613]: Setup TF on Odometry [odom] [INFO] [1627315460.041560]: Setup TF on IMU [imu_link] [INFO] [1627315460.051546]: Setup TF on MagneticField [mag_link] [INFO] [1627315460.061057]: Setup TF on JointState [base_link]

[INFO] [1627315460.081502]: Connected to OpenCR board! [INFO] [1627315460.090027]: This core(v1.2.2) is compatible with TB3 Burger

[INFO] [1627315460.107228]: Start Calibration of Gyro [INFO] [1627315462.591722]: Calibration End ^C[turtlebot3_diagnostics-3] killing on exit [turtlebot3_core-1] killing on exit [turtlebot3_lds-2] killing on exit [INFO] [1627315464.800741]: Send tx stop request shutting down processing monitor... ... shutting down processing monitor complete done

無事エラーなく立ち上げることができた。
23. 6.2. Set Permission for LDS-01

$ sudo chmod a+rw /dev/ttyUSB0

と、

$ sudo chmod 777 /dev/ttyACM0


はbringupの際、随時行う必要がありそう。
masuko-shingo commented 3 years ago

CRポートから正しくコマンドが出力されていれば、モータは動くはず ラズパイで動く状態に寄せる そもそもラズパイの状態で動くのか PCとラズパイとの通信の方式 PCとJetsonnanoの通信の方式 $ rqt_graph $ rostopic list で確認

masuko-shingo commented 3 years ago

ラズパイの状態でモータが動くか、teleopできるかチェック
ラズパイにログインできない
IDとpasswordを入力しても

login incorrect

と表示される。 レスキューモード、緊急モードがあるらしいが、server、CUIの状態からの移行がわからない。

masuko-shingo commented 3 years ago

jetsonnanoに、有線LANケーブル、lider、OpenCR、ディスプレイのHDMI、bluetoothマウス、有線キーボードを接続
電源投入 PC側で

$ vim ~/.bashrc

で、ROS_MASTER等のIPを変更、

$ source ~/.bashrc

で反映させる
jetsonnano側でも同じく、

$ vim ~/.bashrc

で、ROS_MASTER等のIPを変更、

$ source ~/.bashrc

で反映させる
その後

$ roscore

jetsonnano側で

$ cd ~/catkin_ws/src/hls_lfcd_lds_driver/applications
$ ls /dev/ttyUSB0
$ sudo chmod a+rw /dev/ttyUSB0
$ roslaunch turtlebot3_bringup turtlebot3_robot.launch 
... logging to /home/jetsonnano/.ros/log/99e71d62-f459-11eb-9fcf-7c7635a4ab69/roslaunch-jetsonnano-desktop-10093.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.57:35495/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /turtlebot3_core/baud: 115200
 * /turtlebot3_core/port: /dev/ttyACM0
 * /turtlebot3_core/tf_prefix: 
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

NODES
  /
    turtlebot3_core (rosserial_python/serial_node.py)
    turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://192.168.0.42:11311

process[turtlebot3_core-1]: started with pid [10105]
process[turtlebot3_lds-2]: started with pid [10106]
process[turtlebot3_diagnostics-3]: started with pid [10107]
[INFO] [1627995154.223783]: ROS Serial Python Node
[INFO] [1627995154.255850]: Connecting to /dev/ttyACM0 at 115200 baud
[ERROR] [1627995154.268698]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'
[ERROR] [1627995157.283775]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'
[ERROR] [1627995160.341318]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'
[ERROR] [1627995163.411516]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'
[ERROR] [1627995166.483353]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'
[ERROR] [1627995169.770092]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'
[ERROR] [1627995172.800315]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'
[ERROR] [1627995176.112884]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'
[ERROR] [1627995179.395378]: Error opening serial: [Errno 13] could not open port /dev/ttyACM0: [Errno 13] Permission denied: '/dev/ttyACM0'
^C[turtlebot3_diagnostics-3] killing on exit
[turtlebot3_lds-2] killing on exit
[turtlebot3_core-1] killing on exit
^C^Cshutting down processing monitor...
... shutting down processing monitor complete
done

だめだったので、

$ ls /dev/ttyACM0
$ sudo chmod 777 /dev/ttyACM0
~/catkin_ws/src/hls_lfcd_lds_driver/applications$ roslaunch turtlebot3_bringup turtlebot3_robot.launch 
... logging to /home/jetsonnano/.ros/log/99e71d62-f459-11eb-9fcf-7c7635a4ab69/roslaunch-jetsonnano-desktop-10309.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.57:37433/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /turtlebot3_core/baud: 115200
 * /turtlebot3_core/port: /dev/ttyACM0
 * /turtlebot3_core/tf_prefix: 
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

NODES
  /
    turtlebot3_core (rosserial_python/serial_node.py)
    turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://192.168.0.42:11311

process[turtlebot3_core-1]: started with pid [10321]
process[turtlebot3_lds-2]: started with pid [10322]
process[turtlebot3_diagnostics-3]: started with pid [10323]
[INFO] [1627995276.036103]: ROS Serial Python Node
[INFO] [1627995276.076289]: Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [1627995278.191598]: Requesting topics...
[INFO] [1627995278.221709]: Note: publish buffer size is 1024 bytes
[INFO] [1627995278.228189]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]
[INFO] [1627995278.243128]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo]
[INFO] [1627995278.678712]: Setup publisher on imu [sensor_msgs/Imu]
[INFO] [1627995278.696463]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]
[INFO] [1627995278.834303]: Setup publisher on odom [nav_msgs/Odometry]
[INFO] [1627995278.845176]: Setup publisher on joint_states [sensor_msgs/JointState]
[INFO] [1627995278.857941]: Setup publisher on battery_state [sensor_msgs/BatteryState]
[INFO] [1627995278.869624]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]
[INFO] [1627995280.419722]: Setup publisher on /tf [tf/tfMessage]
[INFO] [1627995280.448152]: Note: subscribe buffer size is 1024 bytes
[INFO] [1627995280.457733]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[INFO] [1627995280.479522]: Setup subscriber on sound [turtlebot3_msgs/Sound]
[INFO] [1627995280.496880]: Setup subscriber on motor_power [std_msgs/Bool]
[INFO] [1627995280.518429]: Setup subscriber on reset [std_msgs/Empty]
[INFO] [1627995281.563173]: Setup TF on Odometry [odom]
[INFO] [1627995281.585275]: Setup TF on IMU [imu_link]
[INFO] [1627995281.594502]: Setup TF on MagneticField [mag_link]
[INFO] [1627995281.602713]: Setup TF on JointState [base_link]
[INFO] [1627995281.630359]: --------------------------
[INFO] [1627995281.645076]: Connected to OpenCR board!
[INFO] [1627995281.656418]: This core(v1.2.2) is compatible with TB3 Burger
[INFO] [1627995281.665803]: --------------------------
[INFO] [1627995281.683916]: Start Calibration of Gyro
[INFO] [1627995284.123878]: Calibration End

ctrl+alt+tで別端末を開いて、

$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch 
... logging to /home/jetsonnano/.ros/log/99e71d62-f459-11eb-9fcf-7c7635a4ab69/roslaunch-jetsonnano-desktop-10689.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.57:36809/

SUMMARY
========

PARAMETERS
 * /model: burger
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES
  /
    turtlebot3_teleop_keyboard (turtlebot3_teleop/turtlebot3_teleop_key)

ROS_MASTER_URI=http://192.168.0.42:11311

process[turtlebot3_teleop_keyboard-1]: started with pid [10701]

Control Your TurtleBot3!
---------------------------
Moving around:
        w
   a    s    d
        x

w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)

space key, s : force stop

CTRL-C to quit

currently:  linear vel 0.01  angular vel 0.0 
currently:  linear vel 0.01  angular vel 0.1 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.1 
currently:  linear vel 0.0   angular vel 0.2 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.01  angular vel 0.0 
currently:  linear vel 0.02  angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.01  angular vel 0.0 
currently:  linear vel 0.02  angular vel 0.0 
currently:  linear vel 0.03  angular vel 0.0 
currently:  linear vel 0.04  angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.01  angular vel 0.0 
wcurrently: linear vel 0.02  angular vel 0.0 
currently:  linear vel 0.02  angular vel 0.1 
currently:  linear vel 0.02  angular vel 0.2 
currently:  linear vel 0.02  angular vel 0.3 
currently:  linear vel 0.02  angular vel 0.4 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.01  angular vel 0.0 
currently:  linear vel 0.02  angular vel 0.0 
currently:  linear vel 0.03  angular vel 0.0 
currently:  linear vel 0.04  angular vel 0.0

で、うごいた その際の動画はスマホにある

masuko-shingo commented 3 years ago

jetsonnanoに、有線LANケーブル、lider、OpenCR、ディスプレイのHDMI、bluetoothマウス、有線キーボードを接続
電源投入 PC側で

$ vim ~/.bashrc

で、ROS_MASTER等のIPを変更、

$ source ~/.bashrc

で反映させる
jetsonnano側でも同じく、

$ vim ~/.bashrc

で、ROS_MASTER等のIPを変更、

$ source ~/.bashrc

で反映させる
その後PC側で

$ roscore

ssh通信でjetsonnanoにログイン

$ ssh jetsonnano@192.168.0.57

ログイン後、/dev/ttyUSB0が存在するか確認し、権限を与える
(存在しなかったらおそらくLidarのUSBが接続されていない)

$ cd ~/catkin_ws/src/hls_lfcd_lds_driver/applications
$ ls /dev/ttyUSB0
$ sudo chmod a+rw /dev/ttyUSB0

このままbringupできないので、/dev/ttyACM0が存在するか確認して、権限を与える (存在しなかったら、OpenCRのUSBが接続されていない)

$ ls /dev/ttyACM0
$ sudo chmod 777 /dev/ttyACM0

場所は ~/catkin_ws/src/hls_lfcd_lds_driver/applications でbringup

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch 
... logging to /home/jetsonnano/.ros/log/99e71d62-f459-11eb-9fcf-7c7635a4ab69/roslaunch-jetsonnano-desktop-10309.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.57:37433/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /turtlebot3_core/baud: 115200
 * /turtlebot3_core/port: /dev/ttyACM0
 * /turtlebot3_core/tf_prefix: 
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

NODES
  /
    turtlebot3_core (rosserial_python/serial_node.py)
    turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://192.168.0.42:11311

process[turtlebot3_core-1]: started with pid [10321]
process[turtlebot3_lds-2]: started with pid [10322]
process[turtlebot3_diagnostics-3]: started with pid [10323]
[INFO] [1627995276.036103]: ROS Serial Python Node
[INFO] [1627995276.076289]: Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [1627995278.191598]: Requesting topics...
[INFO] [1627995278.221709]: Note: publish buffer size is 1024 bytes
[INFO] [1627995278.228189]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]
[INFO] [1627995278.243128]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo]
[INFO] [1627995278.678712]: Setup publisher on imu [sensor_msgs/Imu]
[INFO] [1627995278.696463]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]
[INFO] [1627995278.834303]: Setup publisher on odom [nav_msgs/Odometry]
[INFO] [1627995278.845176]: Setup publisher on joint_states [sensor_msgs/JointState]
[INFO] [1627995278.857941]: Setup publisher on battery_state [sensor_msgs/BatteryState]
[INFO] [1627995278.869624]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]
[INFO] [1627995280.419722]: Setup publisher on /tf [tf/tfMessage]
[INFO] [1627995280.448152]: Note: subscribe buffer size is 1024 bytes
[INFO] [1627995280.457733]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[INFO] [1627995280.479522]: Setup subscriber on sound [turtlebot3_msgs/Sound]
[INFO] [1627995280.496880]: Setup subscriber on motor_power [std_msgs/Bool]
[INFO] [1627995280.518429]: Setup subscriber on reset [std_msgs/Empty]
[INFO] [1627995281.563173]: Setup TF on Odometry [odom]
[INFO] [1627995281.585275]: Setup TF on IMU [imu_link]
[INFO] [1627995281.594502]: Setup TF on MagneticField [mag_link]
[INFO] [1627995281.602713]: Setup TF on JointState [base_link]
[INFO] [1627995281.630359]: --------------------------
[INFO] [1627995281.645076]: Connected to OpenCR board!
[INFO] [1627995281.656418]: This core(v1.2.2) is compatible with TB3 Burger
[INFO] [1627995281.665803]: --------------------------
[INFO] [1627995281.683916]: Start Calibration of Gyro
[INFO] [1627995284.123878]: Calibration End

ctrl+alt+tで別端末を開いて、 再度ssh通信でjetsonnanoにログイン

$ ssh jetsonnano@192.168.0.57
jetsonnano@192.168.0.57's password: 
Welcome to Ubuntu 18.04.5 LTS (GNU/Linux 4.9.201-tegra aarch64)

 * Documentation:  https://help.ubuntu.com
 * Management:     https://landscape.canonical.com
 * Support:        https://ubuntu.com/advantage
This system has been minimized by removing packages and content that are
not required on a system that users do not log into.

To restore this content, you can run the 'unminimize' command.

47 updates can be applied immediately.
30 of these updates are standard security updates.
To see these additional updates run: apt list --upgradable

Last login: Tue Aug  3 22:52:58 2021 from 192.168.0.42

ログインできたら、teleop_keyする

$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch 
... logging to /home/jetsonnano/.ros/log/99e71d62-f459-11eb-9fcf-7c7635a4ab69/roslaunch-jetsonnano-desktop-10689.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.57:36809/

SUMMARY
========

PARAMETERS
 * /model: burger
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES
  /
    turtlebot3_teleop_keyboard (turtlebot3_teleop/turtlebot3_teleop_key)

ROS_MASTER_URI=http://192.168.0.42:11311

process[turtlebot3_teleop_keyboard-1]: started with pid [10701]

Control Your TurtleBot3!
---------------------------
Moving around:
        w
   a    s    d
        x

w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)

space key, s : force stop

CTRL-C to quit

currently:  linear vel 0.01  angular vel 0.0 
currently:  linear vel 0.01  angular vel 0.1 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.1 
currently:  linear vel 0.0   angular vel 0.2 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.01  angular vel 0.0 
currently:  linear vel 0.02  angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.01  angular vel 0.0 
currently:  linear vel 0.02  angular vel 0.0 
currently:  linear vel 0.03  angular vel 0.0 
currently:  linear vel 0.04  angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.01  angular vel 0.0 
wcurrently: linear vel 0.02  angular vel 0.0 
currently:  linear vel 0.02  angular vel 0.1 
currently:  linear vel 0.02  angular vel 0.2 
currently:  linear vel 0.02  angular vel 0.3 
currently:  linear vel 0.02  angular vel 0.4 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.01  angular vel 0.0 
currently:  linear vel 0.02  angular vel 0.0 
currently:  linear vel 0.03  angular vel 0.0 
currently:  linear vel 0.04  angular vel 0.0

動作できたらOK 動画

masuko-shingo commented 3 years ago

準備

jetsonnanoに、有線LANケーブル、lider、OpenCR、ディスプレイのHDMI、bluetoothマウス、有線キーボードを接続
電源投入

IPアドレスが変更されていた場合

PC側で ROS_MASTER等のIPを変更する

$ vim ~/.bashrc

変更を反映させる 

$ source ~/.bashrc

jetsonnano側でも同じく、 ROS_MASTER等のIPを変更

$ vim ~/.bashrc

変更を反映させる 

$ source ~/.bashrc

bringup手順

PC側で roscoreを立ち上げ、jetsonnanoとPCのやりとりができるようにする

$ roscore

ssh通信でjetsonnanoにログイン
(下記は例)

$ ssh jetsonnano@192.168.0.57

ログイン後、/dev/ttyUSB0が存在するか確認

$ cd ~/catkin_ws/src/hls_lfcd_lds_driver/applications
$ ls /dev/ttyUSB0

存在する場合は権限を与える
(存在しなかったらおそらくLidarのUSBが接続されていない)

$ sudo chmod a+rw /dev/ttyUSB0

/dev/ttyACM0が存在するか確認

$ ls /dev/ttyACM0

存在する場合は権限を与える (存在しなかったら、OpenCRのUSBが接続されていない)

$ sudo chmod 777 /dev/ttyACM0

/dev/ttyACM0、/dev/ttyUSB0に権限を与えたら、bringup

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch 
... logging to /home/jetsonnano/.ros/log/99e71d62-f459-11eb-9fcf-7c7635a4ab69/roslaunch-jetsonnano-desktop-10309.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.57:37433/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /turtlebot3_core/baud: 115200
 * /turtlebot3_core/port: /dev/ttyACM0
 * /turtlebot3_core/tf_prefix: 
 * /turtlebot3_lds/frame_id: base_scan
 * /turtlebot3_lds/port: /dev/ttyUSB0

NODES
  /
    turtlebot3_core (rosserial_python/serial_node.py)
    turtlebot3_diagnostics (turtlebot3_bringup/turtlebot3_diagnostics)
    turtlebot3_lds (hls_lfcd_lds_driver/hlds_laser_publisher)

ROS_MASTER_URI=http://192.168.0.42:11311

process[turtlebot3_core-1]: started with pid [10321]
process[turtlebot3_lds-2]: started with pid [10322]
process[turtlebot3_diagnostics-3]: started with pid [10323]
[INFO] [1627995276.036103]: ROS Serial Python Node
[INFO] [1627995276.076289]: Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [1627995278.191598]: Requesting topics...
[INFO] [1627995278.221709]: Note: publish buffer size is 1024 bytes
[INFO] [1627995278.228189]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]
[INFO] [1627995278.243128]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo]
[INFO] [1627995278.678712]: Setup publisher on imu [sensor_msgs/Imu]
[INFO] [1627995278.696463]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]
[INFO] [1627995278.834303]: Setup publisher on odom [nav_msgs/Odometry]
[INFO] [1627995278.845176]: Setup publisher on joint_states [sensor_msgs/JointState]
[INFO] [1627995278.857941]: Setup publisher on battery_state [sensor_msgs/BatteryState]
[INFO] [1627995278.869624]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]
[INFO] [1627995280.419722]: Setup publisher on /tf [tf/tfMessage]
[INFO] [1627995280.448152]: Note: subscribe buffer size is 1024 bytes
[INFO] [1627995280.457733]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[INFO] [1627995280.479522]: Setup subscriber on sound [turtlebot3_msgs/Sound]
[INFO] [1627995280.496880]: Setup subscriber on motor_power [std_msgs/Bool]
[INFO] [1627995280.518429]: Setup subscriber on reset [std_msgs/Empty]
[INFO] [1627995281.563173]: Setup TF on Odometry [odom]
[INFO] [1627995281.585275]: Setup TF on IMU [imu_link]
[INFO] [1627995281.594502]: Setup TF on MagneticField [mag_link]
[INFO] [1627995281.602713]: Setup TF on JointState [base_link]
[INFO] [1627995281.630359]: --------------------------
[INFO] [1627995281.645076]: Connected to OpenCR board!
[INFO] [1627995281.656418]: This core(v1.2.2) is compatible with TB3 Burger
[INFO] [1627995281.665803]: --------------------------
[INFO] [1627995281.683916]: Start Calibration of Gyro
[INFO] [1627995284.123878]: Calibration End

ctrl+alt+tで別端末を開いて、 再度ssh通信でjetsonnanoにログイン

$ ssh jetsonnano@192.168.0.57
jetsonnano@192.168.0.57's password: 
Welcome to Ubuntu 18.04.5 LTS (GNU/Linux 4.9.201-tegra aarch64)

 * Documentation:  https://help.ubuntu.com
 * Management:     https://landscape.canonical.com
 * Support:        https://ubuntu.com/advantage
This system has been minimized by removing packages and content that are
not required on a system that users do not log into.

To restore this content, you can run the 'unminimize' command.

47 updates can be applied immediately.
30 of these updates are standard security updates.
To see these additional updates run: apt list --upgradable

Last login: Tue Aug  3 22:52:58 2021 from 192.168.0.42

ログインできたら、teleop_keyする

$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch 
... logging to /home/jetsonnano/.ros/log/99e71d62-f459-11eb-9fcf-7c7635a4ab69/roslaunch-jetsonnano-desktop-10689.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.0.57:36809/

SUMMARY
========

PARAMETERS
 * /model: burger
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES
  /
    turtlebot3_teleop_keyboard (turtlebot3_teleop/turtlebot3_teleop_key)

ROS_MASTER_URI=http://192.168.0.42:11311

process[turtlebot3_teleop_keyboard-1]: started with pid [10701]

Control Your TurtleBot3!
---------------------------
Moving around:
        w
   a    s    d
        x

w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)

space key, s : force stop

CTRL-C to quit

currently:  linear vel 0.01  angular vel 0.0 
currently:  linear vel 0.01  angular vel 0.1 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.1 
currently:  linear vel 0.0   angular vel 0.2 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.01  angular vel 0.0 
currently:  linear vel 0.02  angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.01  angular vel 0.0 
currently:  linear vel 0.02  angular vel 0.0 
currently:  linear vel 0.03  angular vel 0.0 
currently:  linear vel 0.04  angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.01  angular vel 0.0 
wcurrently: linear vel 0.02  angular vel 0.0 
currently:  linear vel 0.02  angular vel 0.1 
currently:  linear vel 0.02  angular vel 0.2 
currently:  linear vel 0.02  angular vel 0.3 
currently:  linear vel 0.02  angular vel 0.4 
currently:  linear vel 0.0   angular vel 0.0 
currently:  linear vel 0.01  angular vel 0.0 
currently:  linear vel 0.02  angular vel 0.0 
currently:  linear vel 0.03  angular vel 0.0 
currently:  linear vel 0.04  angular vel 0.0

動作できたらOK 動画