ROS2与Turtlebot3-ARM入门教程-OpenCR设置

说明

• 本教程介绍如何烧录Turtlebot3-ARM的固件到OpenCR控制板

操作步骤

一键操作

• [TurtleBot3 SBC] 对于在创客智造上买到的机器，镜像系统里自带现成的脚本一键烧录脚本

$ ~/tools/firmware/humble/loadRos2HumbleFirmware.sh turtlebot3_manipulation
Now the Humble's firmware of turtlebot3_manipulation will be download to the openCR.

aarch64
arm
OpenCR Update Start..
opencr_ld_shell ver 1.0.0
opencr_ld_main 
[  ] file name      : turtlebot3_manipulation.opencr 
[  ] file size      : 136 KB
[  ] fw_name        : turtlebot3_manipulation 
[  ] fw_ver         : V230127R1 
[OK] Open port      : /dev/ttyACM0
[  ]
[  ] Board Name     : OpenCR R1.0
[  ] Board Ver      : 0x17020800
[  ] Board Rev      : 0x00000000
[OK] flash_erase    : 1.05s
[OK] flash_write    : 1.36s 
[OK] CRC Check      : DA11C4 DA11C4 , 0.004000 sec
[OK] Download 
[OK] jump_to_fw

分步操作

• [TurtleBot3 SBC] 烧录固件到OpenCR上

$ export OPENCR_PORT=/dev/ttyACM0
$ export OPENCR_MODEL=turtlebot3_manipulation
$ rm -rf ./opencr_update.tar.bz2
$ wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2
$ tar -xvf opencr_update.tar.bz2
$ cd ./opencr_update
$ ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr