Turtlebot3-ROS2入门教程-为OpenCR导入固件

说明

• 介绍如何在SBC单板电脑上为OpenCR控制板导入ROS2版本的固件

相关设备：

• Turtlebot3-ROS2套件，采购地址

安装步骤

• [TurtleBot3] 设置udev规则

$ cd ~/turtlebot3_ws/src/turtlebot3/turtlebot3_bringup 
$ sudo cp ./99-turtlebot3-cdc.rules /etc/udev/rules.d/ 
$ sudo udevadm control --reload-rules 
$ sudo udevadm trigger

• [TurtleBot] 安装依赖

$ sudo dpkg --add-architecture armhf
$ sudo apt-get update
$ sudo apt-get install libc6:armhf

• [TurtleBot] 下载OpenCR的二进制包和工具

$ cd && rm -rf opencr_update.tar.bz2
$ wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2
$ tar -xjf ./opencr_update.tar.bz2

• [Burger] 上传固件到OpenCR

# Set a port for OpenCR 
$ export OPENCR_PORT=/dev/ttyACM0
# Set a model of TurtleBot3 you are using
$ export OPENCR_MODEL=burger
$ cd ~/opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr

//导入成功时会出现以下信息

aarch64
arm
OpenCR Update Start..
opencr_ld_shell ver 1.0.0
opencr_ld_main
[  ] file name   	: burger.opencr
[  ] file size   	: 168 KB
[  ] fw_name     	: burger
[  ] fw_ver      	: V180903R1
[OK] Open port   	: /dev/ttyACM0
[  ]
[  ] Board Name  	: OpenCR R1.0
[  ] Board Ver   	: 0x17020800
[  ] Board Rev   	: 0x00000000
[OK] flash_erase 	: 0.96s
[OK] flash_write 	: 1.92s
[OK] CRC Check   	: 10E28C8 10E28C8 , 0.006000 sec
[OK] Download
[OK] jump_to_fw

• [Waffle && Waffle Pi] 上传固件到OpenCR

# Set a port for OpenCR 
$ export OPENCR_PORT=/dev/ttyACM0
# Set a model of TurtleBot3 you are using
$ export OPENCR_MODEL=waffle
$ cd ~/opencr_update && ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr

//导入成功时会出现以下信息

aarch64
arm
OpenCR Update Start..
opencr_ld_shell ver 1.0.0
opencr_ld_main
[  ] file name   	: waffle.opencr
[  ] file size   	: 168 KB
[  ] fw_name     	: waffle
[  ] fw_ver      	: V180903R1
[OK] Open port   	: /dev/ttyACM0
[  ]
[  ] Board Name  	: OpenCR R1.0
[  ] Board Ver   	: 0x17020800
[  ] Board Rev   	: 0x00000000
[OK] flash_erase 	: 0.96s
[OK] flash_write 	: 1.92s
[OK] CRC Check   	: 10E28C8 10E28C8 , 0.006000 sec
[OK] Download
[OK] jump_to_fw

• [OpenCR] 按下reset按钮重置OpenCR；几秒后，会播放一段悦耳的响铃