[ros-users] [Discourse.ros.org] [General] TurtleBot3 software and firmware update and 'waffle_pi'

[Taehoon Lim(Darby)]

Hello everyone :) 

I announce that TurtleBot3 is huge updated!!!
This update considered many issues and requests from users. We are sincerely thankful to them.
More interest makes more progress. If you have any issues or suggestions, please feel free to get [issue ticket](http://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_common_software_setup/#usb-settings-burger-and-waffle)

**Update lists**
1. [Library for turtlebot3](https://github.com/ROBOTIS-GIT/OpenCR/tree/master/arduino/opencr_arduino/opencr/libraries/turtlebot3)

* turtlebot3_controller - include RC100(for remote control) library
* turtlebot3_diagnosis - include diagnostic functions
* turtlebot3_motor_driver - include DYNAMIXEL SDK
* turtlebot3_sensor - include functions for IMU, battery, magnetic filed and analog Input

2. [Add Publisher](https://github.com/ROBOTIS-GIT/OpenCR/tree/master/arduino/opencr_arduino/opencr/libraries/turtlebot3)

* /version_info - Contains the hardware, firmware and software information
* /battery_state - Contains battery voltage and status
* /magnetic_field - Contains magnetic field information
* /diagnostic - Contains self diagnostic information

3. [Add Subscriber](https://github.com/ROBOTIS-GIT/OpenCR/tree/master/arduino/opencr_arduino/opencr/libraries/turtlebot3)

* /sound - Output beep sound
* /motor_power - Dynamixel torque on/off
* /reset - Reset odometry and re-calibration IMU

4. [Add message](https://github.com/ROBOTIS-GIT/turtlebot3_msgs)

* add Sound.msg

5. [Change USB Setting](http://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_common_software_setup/#usb-settings-burger-and-waffle)

* Simple command makes USB setup

6. [Add diagnostic node](https://github.com/ROBOTIS-GIT/turtlebot3/tree/master/turtlebot3_bringup/src)

* It shows state of IMU, motor, lidar, battery, button and version information

7.  Add Waffle PI

* Now, we are preparing new version of TurtleBot3 called **Waffle PI**.  Meet Waffle PI in [Rviz and Gazebo](https://github.com/ROBOTIS-GIT/turtlebot3_simulations) before you get an it.

![74179729-turtlebot3_waffle_pi|565x500](upload://oHPfVzprM3mOclEyYb3MiQe3zmS.jpg)


**How to update**

1. Software (v 1.0.0)

Existing users need to download new version in master branch of turtlebot3 and turtlebot3_msgs

Direct download in repository [turtlebot3](https://github.com/ROBOTIS-GIT/turtlebot3), [turtlebot3_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_msgs)

or using command line

> $ cd ~/catkin_ws/src
> $ sudo rm -rf turtlebot3/
> $ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

> $ cd ~/catkin_ws/src
> $ sudo rm -rf turtlebot3_msgs/
> $ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

2. Firmware

Open Arduino -> Toos -> Board: -> Board Manager... -> Update (v 1.0.15)

![PLUG_CAP9|690x386](upload://3r2glsBpTWGrZYnQdnLgMYnfjSg.png)

Best regards!
Darby





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