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TurtleBot4快速入门教程-基本检测(含视频)

TurtleBot4快速入门教程-基本检测

说明：

  • 本教程主要介绍如何进行基本检测

相关设备

操作步骤

  • 查看create3的电池电压和电量。注意使用的时候，要及时为create3充电
ros2 topic echo /battery_state


header:
  stamp:
    sec: 1701078016
    nanosec: 762312453
  frame_id: ''
voltage: 16.415000915527344
temperature: 28.44999885559082
current: -0.03400000184774399
charge: 1.9839999675750732
capacity: 1.9839999675750732
design_capacity: 1.9839999675750732
percentage: 0.949999988079071
power_supply_status: 0
power_supply_health: 0
power_supply_technology: 0
present: true
cell_voltage: []
cell_temperature: []
location: ''
serial_number: ''
---
  • voltage电池电压为16.41V，percentage电池电量的百分比为0.949
  • 测试例程下有7个单独测试和两个整体测试，其中TurtleBot 4 Lite Tests则因硬件原因只是测试前面四项，TurtleBot 4 Tests则是测试前7项
------------------------------
         Test Options         
------------------------------
1. Light Ring Test        # 灯光测试
2. Create3 Button Tes     # 按键测试
3. Drive Test             # 行驶测试
4. Dock Test              # 充电桩对接测试
5. User LED Test          # 上层电路板的LED灯测试（TurtleBot 4 Lite 用户可忽略该项测试）
6. User Display Test      # 上层电路板的显示屏测试（TurtleBot 4 Lite 用户可忽略该项测试）
7. User Button Test       # 上层电路板的按钮测试（TurtleBot 4 Lite 用户可忽略该项测试）
8. TurtleBot 4 Lite Tests # TurtleBot 4 Lite整体测试
9. TurtleBot 4 Tests      # TurtleBot 4 整体测试
10. Exit
  • 测试结束后，测试日志会保存在根目录下的turtlebot4_test_results文件下

注意：由于保存的日志文件比较大，如果进行了多次测试，需要删除一些旧日志，以免导致存储空间不足

  • 以下为TurtleBot 4的整体测试例程

  • [TurtleBot SBC] 远程进入树莓派，启动测试程序

$ ros2 run turtlebot4_tests ros_tests

Saving results to /home/ubuntu/turtlebot4_test_results/2022_08_10-16_01_46
Running Turtlebot4 ROS tests...

------------------------------
         Test Options         
------------------------------
1. Light Ring Test
2. Create3 Button Test
3. Drive Test
4. Dock Test
5. User LED Test
6. User Display Test
7. User Button Test
8. TurtleBot 4 Lite Tests
9. TurtleBot 4 Tests
10. Exit
Select an option: 9
------------------------------
Running Test: TurtleBot 4 Tests
------------------------------
------------------------------
Running Test: Light Ring Test
------------------------------
Testing Create3 Light Ring...

Did all lights turn red?
y/n: y
Did all lights turn green?
y/n: y
Did all lights turn blue?
y/n: y
Did all lights turn white?
y/n: y
Did all lights turn off?
y/n: y

------------------------------
    Lighting Test Results     
------------------------------
All Red                 PASSED
All Green               PASSED
All Blue                PASSED
All White               PASSED
All Off                 PASSED
------------------------------
Running Test: Create3 Button Test
------------------------------
Testing Create3 Buttons...

Press Create3 Button 1
Press Create3 Button Power
Press Create3 Button 2

------------------------------
Create3 Button Test Results  
------------------------------
Create Button 1         PASSED
Create Button Power     PASSED
Create Button 2         PASSED
------------------------------
   Running Test: Drive Test   
------------------------------
The robot will drive forwards 0.25m then turn 90 degrees 4 times.
Press enter to start.
Action   | Δ Position (m)       | Δ Yaw (deg)         
1        | 0.24554825902329538  | 0.0674679431295715  
2        | 0.04246477274706535  | 90.30328491497853   
3        | 0.24581703485438286  | 2.5417797675393956  
4        | 0.01704335791046559  | 89.68861782268294   
5        | 0.24678301012428816  | 2.5624957312920458  
6        | 0.0064521459846366164 | 89.47590159889556   
7        | 0.24573124984440975  | 2.2093134794998264  
8        | 0.009389990814848247 | 89.87100114851096   

------------------------------
      Drive Test Results      
------------------------------
Action 1 Drive          PASSED
Action 2 Rotate         PASSED
Action 3 Drive          PASSED
Action 4 Rotate         PASSED
Action 5 Drive          PASSED
Action 6 Rotate         PASSED
Action 7 Drive          PASSED
Action 8 Rotate         PASSED
------------------------------
   Running Test: Dock Test    
------------------------------
Place the robot on the dock
Undocking...
Docking...

------------------------------
      Dock Test Results       
------------------------------
Undocking               PASSED
Docking                 PASSED
------------------------------
Running Test: User LED Test  
------------------------------
Testing User LEDs...
Is User LED 1 Green?
y/n: y
Is User LED 2 Green?
y/n: y
Is User LED 2 Red?
y/n: y
Is User LED 2 Yellow?
y/n: y
Are both User LEDs blinking?
y/n: y

------------------------------
       HMI Test Results       
------------------------------
User LED 1 Green        PASSED
User LED 2 Green        PASSED
User LED 2 Red          PASSED
User LED 2 Yellow       PASSED
User LED Blinking       PASSED
------------------------------
Running Test: User Display Test
------------------------------
Testing the display...
y/n: y

------------------------------
  User Display Test Results   
------------------------------
Display Message         PASSED
------------------------------
Running Test: User Button Test
------------------------------
Testing User Buttons...

Press User Button 1
Press User Button 2
Press User Button 3
Press User Button 4

------------------------------
   User Button Test Results   
------------------------------
User Button 1           PASSED
User Button 2           PASSED
User Button 3           PASSED
User Button 4           PASSED
------------------------------
         Test Options         
------------------------------
1. Light Ring Test
2. Create3 Button Test
3. Drive Test
4. Dock Test
5. User LED Test
6. User Display Test
7. User Button Test
8. TurtleBot 4 Lite Tests
9. TurtleBot 4 Tests
10. Exit
Select an option:

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