Turtlebot3 Burger installation - OpenCR Setup - robot does not move

asked 2020-06-24 05:20:18 -0600

JrV gravatar image

updated 2020-06-24 05:28:16 -0600

gvdhoorn gravatar image

Hello ROS community,

I am performing the firmware upload step for the turtlebot burger. I do the following steps:

export OPENCR_PORT=/dev/ttyACM0
export OPENCR_MODEL=burger
rm -rf ./opencr_update.tar.bz2
wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS1/latest/opencr_update.tar.bz2 && tar -xvf opencr_update.tar.bz2 && cd ./opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr && cd ..

I get the results as shown on page https://emanual.robotis.com/docs/en/p... (OpenCR release is 1.2.5) I seems the

On https://emanual.robotis.com/docs/en/p... I read: Press and hold PUSH SW 1 for a few seconds to command the robot to move 30 centimeters (about 12 inches) forward. Press and hold PUSH SW 2 for a few seconds to command the robot to rotate 180 degrees in place.

I perform this action, however no positive result, the robot does not move or rotate.

However, I notice that Arduino led is blinking on an off.

To check if the OpenCR can find the motors, I uploaded the o_Find_Dynamixel Firmware t and this gives following results: (In this case Arduino led is not blinking)

Succeed to init : 9600
Find 0 Dynamixels
Succeed to init : 57600
Find 0 Dynamixels
Succeed to init : 115200
Find 0 Dynamixels
Succeed to init : 1000000
Find 2 Dynamixels
id : 1 model name : XL430-W250
id : 2 model name : XL430-W250
Succeed to init : 2000000
Find 0 Dynamixels
Succeed to init : 3000000
Find 0 Dynamixels
Succeed to init : 4000000
Find 0 Dynamixels

My questions:

Why is the Arduino led is blinking on an off. Do I need to configure the motors. Do I need to take another action, a configurations step

Best regards, J.

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Comments

Hey JrV, did you figure out what the problem is? I have the same issue.. nothing is moving or rotating when pressing the buttons and opencr configuration has ended with 'jump_to_fw' as mentioned at robotis. Thanks Laura!

lslabon gravatar image lslabon  ( 2020-10-08 06:40:28 -0600 )edit

No. It is still unclear. Currently I use a none ROS (python) approach to control the robot.

JrV gravatar image JrV  ( 2020-10-08 12:48:34 -0600 )edit

@JrV can you please explain how you’re able to control turtlebot3 with non-ROS Python code? My setup consists of a raspberry pi 3 + opencr + dynamixel servos and I’m running ros2 foxy on Ubuntu 20.04. Thanks

hackstockpie gravatar image hackstockpie  ( 2021-03-17 02:34:30 -0600 )edit

The OpenCR is used as U2D2 and dynamixel sdk is used. check https://github.com/JrVerbiest/Marvin/... (simple code to control a robot using a bluetooth keyboard, from some time ago but maybe useful, it should work on RPi and Jetson).

JrV gravatar image JrV  ( 2021-03-18 13:49:10 -0600 )edit