Hello~!! everyone :slight_smile: Do you remember ROBOTIS, Intel and OpenRobotics announced official release of TurtleBot3 @ ICRA 2017 in Singapore? Thank you to all who loved TurtleBot3 for the past year :heart_eyes: We celebrated the first anniversary of TurtleBot3 and prepared software and firmware updates and more powerful WiKi :grin: This update considered may issues and requests from users. We are sincerely thankful to them. TurtleBot3 can get even better through a lot of interest. So please feel free to suggest any functions or ask questions into our [issue page in github](https://github.com/ROBOTIS-GIT/turtlebot3/issues) _**New Software version is 1.0.0**_ _**New Firmware version is 1.2.0**_ **1. List of Software updates** **(1) turtlebot3** * [Add cartographer](http://emanual.robotis.com/docs/en/platform/turtlebot3/slam/#run-slam-nodes) * [Add frontier_exploration](http://emanual.robotis.com/docs/en/platform/turtlebot3/slam/#run-slam-nodes) * [Add frontier_exploration](http://emanual.robotis.com/docs/en/platform/turtlebot3/slam/#run-slam-nodes) * [Add hector mapping](http://emanual.robotis.com/docs/en/platform/turtlebot3/slam/#run-slam-nodes) * [Add karto SLAM](http://emanual.robotis.com/docs/en/platform/turtlebot3/slam/#run-slam-nodes) * Update gmapping parameters * Update navigation parameters * Modified version check * Add robot model for `OpenManipulator` and `turtlebot3_autorace` **(2) turtlebot3_simulations** * [Add world for `turtlebot3_autorace`](http://emanual.robotis.com/docs/en/platform/turtlebot3/autonomous_driving/#autonomous-driving) * [Add world for `turtlebot3_machine_learning`](http://emanual.robotis.com/docs/en/platform/turtlebot3/machine_learning/#machine-learning) **(3) turtlebot3_applications** * [Add turtlebot3_automatic_parking](http://emanual.robotis.com/docs/en/platform/turtlebot3/applications/#automatic-parking) * [Add turtlebot3_automatic_parking_vision](http://emanual.robotis.com/docs/en/platform/turtlebot3/applications/#automatic-parking-vision) **2. List of Firmware updates** * [Add example to use additional sensors as Bumper, Infrared sensor, Ultrasonic sensor, illumination sensor and additional GPIO as LED](http://emanual.robotis.com/docs/en/platform/turtlebot3/additional_sensors/#additional-sensors) * [Add debug code for firmware developer](http://emanual.robotis.com/docs/en/platform/turtlebot3/appendix_opencr1_0/#debugging) **3. How to update** (1) Upload new firmware(1.2.0) [TurtleBot3] _(Raspberry Pi 3 or Intel Joule)_ _Burger_ ``` $ export OPENCR_PORT=/dev/ttyACM0 $ export OPENCR_MODEL=burger $ rm -rf ./opencr_update.tar.bz2 $ wget https://github.com/ROBOTIS-GIT/OpenCR/raw/develop/arduino/opencr_release/shell_update/opencr_update.tar.bz2 && tar -xvf opencr_update.tar.bz2 && cd ./opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr && cd .. ``` _Waffle_ ``` $ export OPENCR_PORT=/dev/ttyACM0 $ export OPENCR_MODEL=waffle $ rm -rf ./opencr_update.tar.bz2 $ wget https://github.com/ROBOTIS-GIT/OpenCR/raw/develop/arduino/opencr_release/shell_update/opencr_update.tar.bz2 && tar -xvf opencr_update.tar.bz2 && cd ./opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr && cd .. ``` (2) Download new software (1.0.0) [TurtleBot3] _(Raspberry Pi 3 or Intel Joule)_ ``` $ cd ~/catkin_ws/src/ $ rm -rf turtlebot3/ turtlebot3_msgs/ hls_lfcd_lds_driver/ ``` ``` $ 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 ``` ``` $ cd ~/catkin_ws/src/turtlebot3 $ sudo rm -r turtlebot3_description/ turtlebot3_teleop/ turtlebot3_navigation/ turtlebot3_slam/ turtlebot3_example/ ``` ``` $ cd ~/catkin_ws/ $ rm -rf build/ devel/ $ cd ~/catkin_ws && catkin_make -j1 ``` [RemotePC] (3) Download new software (1.0.0) ``` $ cd ~/catkin_ws/src/ $ rm -rf turtlebot3/ turtlebot3_msgs/ ``` ``` $ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git $ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git ``` ``` $ cd ~/catkin_ws/ $ rm -rf build/ devel/ $ cd ~/catkin_ws && catkin_make ``` (4) Bringup TurtleBot3 [TurtleBot3] _(Raspberry Pi 3 or Intel Joule)_ ``` $ roslaunch turtlebot3_bringup turtlebot3_robot.launch ``` If you succeeded to firmware and software update, you can watch below information on your terminal ``` [INFO] [1527235088.346449]: ROS Serial Python Node [INFO] [1527235088.442568]: Connecting to /dev/ttyACM0 at 115200 baud [INFO] [1527235090.657687]: Note: publish buffer size is 1024 bytes [INFO] [1527235090.659172]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState] [INFO] [1527235090.676922]: Setup publisher on version_info [turtlebot3_msgs/VersionInfo] [INFO] [1527235090.717570]: Setup publisher on imu [sensor_msgs/Imu] [INFO] [1527235090.734843]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist] [INFO] [1527235090.756810]: Setup publisher on odom [nav_msgs/Odometry] [INFO] [1527235090.782001]: Setup publisher on joint_states [sensor_msgs/JointState] [INFO] [1527235090.799442]: Setup publisher on battery_state [sensor_msgs/BatteryState] [INFO] [1527235090.815553]: Setup publisher on magnetic_field [sensor_msgs/MagneticField] [INFO] [1527235092.747440]: Setup publisher on /tf [tf/tfMessage] [INFO] [1527235092.771371]: Note: subscribe buffer size is 1024 bytes [INFO] [1527235092.773250]: Setup subscriber on cmd_vel [geometry_msgs/Twist] [INFO] [1527235092.803557]: Setup subscriber on sound [turtlebot3_msgs/Sound] [INFO] [1527235092.832210]: Setup subscriber on motor_power [std_msgs/Bool] [INFO] [1527235092.860932]: Setup subscriber on reset [std_msgs/Empty] [INFO] [1527235093.658241]: -------------------------- [INFO] [1527235093.661574]: Connected to OpenCR board! [INFO] [1527235093.664542]: This core(v1.2.0) is compatible with TB3 Burger [INFO] [1527235093.667664]: -------------------------- [INFO] [1527235093.670613]: Start Calibration of Gyro [INFO] [1527235096.214531]: Calibration End ``` **4. Special Thank you** We are always very appreciative of all users to interest TurtleBot3. Especially, Thank you to @KurtE, @ncnynl, @FurqanHabibi, @skasperski, @ihadzic Because of your interests and efforts, TurtleBot3 :turtle: become more better. If you need more information about TurtleBot3, please visit our [e-manual](http://turtlebot3.robotis.com) or open [issue](https://github.com/ROBOTIS-GIT/turtlebot3/issues). Thank you Darby --- [Visit Topic](https://discourse.ros.org/t/announcing-turtlebot3-software-v1-0-0-and-firmware-v1-2-0-update/4888/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. 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