turtlebot3 low battery beeping

asked 2018-07-03 17:43:18 -0500

AmateurHour
95 ●16 ●21 ●24

Hello! To preface, I am running ros on a turtlebot3 using Ubuntu 16.02. I am wondering where I can change the turtlebot's source code so that it does not beep when the battery is low. Thanks!

answered 2018-07-03 17:59:56 -0500

Pyo
358 ●2 ●7 ●13 http://turtlebot3.robotis.com/

Hi @AmateurHour,

The buzzer you mentioned is equipped with OpenCR, the main controller of TurtleBot3. OpenCR checks the voltage of the battery and when the voltage is below 11V, the buzzer sounds. If you do not want to use it, you can modify the turtlebot3_diagnosis.cpp part of OpenCR. The related code is the link below.

https://github.com/ROBOTIS-GIT/OpenCR...

Please refer to the link below for the information needed for this modification. :)

Setting the Arduino IDE for OpenCR http://emanual.robotis.com/docs/en/pl...
How to modify ROS library code (OpenCR) http://emanual.robotis.com/docs/en/pl...

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Fantastic, thank you!!

AmateurHour ( 2018-07-03 21:31:53 -0500 )edit

Hi @Pyo,

I am also interested in making this modification. My Arduino IDE is setup for OpenCR already, and I have found the file I'm supposed to modify according to the last link:

In my case, the path is

~/.arduino15/packages/OpenCR/hardware/OpenCR/1.4.18/libraries/turtlebot3/src/turtlebot3/turtlebot3_diagnosis.cpp

I have made the changes in the code to stop the low voltage alarm, but how do I sent the modified file to the OpenCR? Do I need to upload it somehow? Run the bootloader?

I can't just use arduino to upload it to the board because it is a .cpp file

Please help! Thanks.