[Discourse.ros.org] [General] Announcing TurtleBot3 Software(v1.0.0) and Firmware(v1.2.0) Update

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[Discourse.ros.org] [General] Announcing TurtleBot3 Software(v1.0.0) and Firmware(v1.2.0) Update

Thilo Zimmermann via ros-users


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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[Discourse.ros.org] [General] Announcing TurtleBot3 Software(v1.0.0) and Firmware(v1.2.0) Update

Thilo Zimmermann via ros-users


Great,Just amazing.
 TQ!





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[Discourse.ros.org] [General] Announcing TurtleBot3 Software(v1.0.0) and Firmware(v1.2.0) Update

Thilo Zimmermann via ros-users
In reply to this post by Thilo Zimmermann via ros-users


Darby and all the Robotis Turtlebot3 designers and engineers. Once again thank you for this excellent Update adding many interesting and useful functions to the Turtlebot3. I can report that the Update worked properly on my Burger following the accurate instructions. I look forward to building and connecting the additional Sonar, LED, Bumper and Cliff sensors. Doing several demonstrations to many friends and colleagues I found the hardware and software to be very reliable. A tip: As we are all aware for reliable teleop, Image view, RVIZ, SLAM.Navigation functions, it is critical to have a sound WiFi network which I usually provide with a dedicated "Mobile Router" (the one I use has both a LAN and WLAN radio) that gives the Turtlebot3 its own DHCP IP assignments separate from the private or public network,





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[Discourse.ros.org] [General] Announcing TurtleBot3 Software(v1.0.0) and Firmware(v1.2.0) Update

Thilo Zimmermann via ros-users


Thank you for sharing your experiences :slight_smile:





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[Discourse.ros.org] [General] Announcing TurtleBot3 Software(v1.0.0) and Firmware(v1.2.0) Update

Thilo Zimmermann via ros-users
In reply to this post by Thilo Zimmermann via ros-users


Thank you @YuehChuan!





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[Discourse.ros.org] [General] Announcing TurtleBot3 Software(v1.0.0) and Firmware(v1.2.0) Update

Thilo Zimmermann via ros-users
In reply to this post by Thilo Zimmermann via ros-users


Hello guys :slight_smile:

We announces you can now download updated firmware(v1.2.1) and software today!!

The new software includes  

1. Modified waffle URDF to escape the scan lines hitting the realsense camera
(Issue : https://github.com/ROBOTIS-GIT/turtlebot3/issues/234)

2. Add arguments to simply load multiple TurtleBot3s
(Issue : https://github.com/ROBOTIS-GIT/turtlebot3/issues/207)
(WiKi : http://emanual.robotis.com/docs/en/platform/turtlebot3/applications/#load-multiple-turtlebot3s)

The new firmware includes

1. Add param to set prefix of TF
(Issue : https://github.com/ROBOTIS-GIT/turtlebot3/issues/207)

2. Update sensor time for cartogapher
(Issue : https://github.com/ROBOTIS-GIT/turtlebot3/issues/228)
(WiKi : http://emanual.robotis.com/docs/en/platform/turtlebot3/slam/#run-slam-nodes)

You are supposed to upload new firmware to OpenCR and download software on SBC(Raspberry Pi 3 or Intel Joule) and Remote PC. Please follow `3. How to update` sections on this page to get this.

You can see that, we are always try to solve issues everyday. These issues make better TurtleBot3 or more simple to launch it. If you have any inconvenience or questions about TurtleBot3, please feel free to open ticket(https://github.com/ROBOTIS-GIT/turtlebot3/issues)

Thanks





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