[ros-users] [Discourse.ros.org] [General] Announcing TurtleBot3 Software(v1.0.0) and Firmware(v1.2.0) Update
Taehoon Lim(Darby)
ros.discourse at gmail.com
Fri May 25 09:21:35 UTC 2018
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
---
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