Welcome to the ROBOTIS e-Manual ! The e-Manual page rendered from this repository is available for everyone. Just simply click the provided link below :)
Home Page: http://emanual.robotis.com/
License: MIT License
![dependabot[bot] avatar](https://avatars.githubusercontent.com/in/29110?v=4 "dependabot[bot]")
Suggestion: Maybe add some more explicit information about pins that support external Interrupts for Arduino users.
I am wanting to use an interrupt on a pin from a sensor and did not find anything when I did a search for Interrupt in the emanual. So I looked at the variant sources...
Probably want to mention that, you should use the digitalPinToInterrupt macro like:
attachInterrupt(digitalPinToInterrupt(_interrupt_pin), my_isr, FALLING);
Likewise it might be nice if it said that supported pins are: 2, 3, 4, 7, 8, 42, 45, 72
Note: I appreciate that most of this information is already in the emanual if you know where to look for it. Example in section:
https://github.com/ROBOTIS-GIT/emanual/blob/master/docs/en/parts/controller/opencr10.md#arduino-connector
It shows some of the pins in Function 3 (but no explanation about what EXTI_0... is.
Likewise in section:
https://github.com/ROBOTIS-GIT/emanual/blob/master/docs/en/parts/controller/opencr10.md#pin-definition
Shows the whole pin definition table, which gives you all the pins, which is great (Thanks!)
Edit: Also I have found with some platforms, the calling code needs to set the pin mode (probably input) when they are trying to use external interrupts using IO pins. Would be good to know if this is needed here or not.
Also side note: Would be good to know if the IO pins support Pull up and/or Pull down resistors and maybe info on what the resistance is...
Now to see if the interrupts work :D
http://emanual.robotis.com/docs/kr/edu/engineer/kit2_introduction/#개요
에서 수정 사항 발견했습니다. 영문에서 국문으로 수정 부탁 드립니다.
@ROBOTIS-David ( cc: @ROBOTIS-Will )
OM-X: https://emanual.robotis.com/docs/en/platform/openmanipulator_x/ros2_setup/#install-ros-2-on-pc
OM-P: https://emanual.robotis.com/docs/en/platform/openmanipulator_p/ros2_setup/#ros-setup
# Old
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/open_manipulator/ros2/install_ros_dashing.sh && chmod 755 ./install_ros_dashing.sh && bash ./install_ros_dashing.sh
# New
$ https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros2_dashing.sh \
&& chmod 755 ./install_ros_dashing.sh \
&& bash ./install_ros_dashing.shRyan
Hey, we are using Turtlebot3 Burger and have faced several problem. We have successfully done upto 10.1 Run Navigation Nodes using your manual ROBOTICS e-Manual(http://emanual.robotis.com/docs/en/platform/turtlebot3/navigation/#run-navigation-nodes). But when we are trying to sending the end position for navigation then it is not working. We are sucked on 10.3 Estimate Initial Pose for past 1 months. We already tried to connect several time from Roborium who are the selling team of Turtlebot in India. But there have no fruit full work is done. So now we want a full support from your side to send the navigation goal.
Hello, I want to configure a Pi Camera for my turtlebot3 (burger)
But while following the tutorial and typing sudo raspi-config I got a message of command not found.
After some research i've managed to install the raspi-config but then I ran into some more trouble: My raspi-config interface doesn't have the Interfacing Options and it keeps saying that is on the latest version after clicking on Update.
So now I'm stuck.
I'm using a Rasberry Pi 3B+ ros melodic ubuntu 18.04
Thanks in advance, any help appreciated
Hi, I thought that the turtlebot3 works in ROS2 environment and I think the ROS1 manual is a bit outdated.
Is there a documentation for the ROS2 version as well?
It appears some of the names of files and directories were changed, but the manual is still using some old names e.g. robotis_op3_walking.launch --> op3_walking.launch
Hi. I was just looking around and found some errors in the following instruction:
The instruction seems to be the same as one for linux. For instance, apt get should be changed to brew or some other package managers that OSX supports.
In my case, compiling with my builtin LLVM v.8.1.0 worked just fine.
Any update on resolving the resolution / compatibility for the Task 3.0 app on iOS tablets?
Thanks.
I have an addon called Smart HTTPS which attempts to force all sites to use HTTPS. When browsing the manual none of the style sheets seem to load when using a https URL.
Hi,
I want to build Turtlebot3 Mecanum(https://emanual.robotis.com/docs/en/platform/turtlebot3/locomotion/#turtlebot3-friends-mecanum).
So, I checked BOM and bought mecanum wheels rb-nex-13 and printed joint parts.
(BOM: https://docs.google.com/spreadsheets/d/1vbIFMRJMbyOd2D6BtwV1Ow_yBc9xRHktqZhTTmwI_l4/edit#gid=953634249)
But they can't connect because of hole placement is wrong.
I think the link address of wheels in BOM is wrong.
Thanks.
Dear Sirs,
I have a short question regarding change of the design of the waffle.
If i elevate the third layer what software changes regarding the lidar sensor has to be done? Is there a parameter to specify its height?
sincerely yours,
Florian Spieß
This issue was opened at Dynamixel-Workbench.
ROBOTIS-GIT/dynamixel-workbench#226 (comment)
Please modified model number of MX-12W from 104 to 360
http://emanual.robotis.com/docs/en/platform/turtlebot3/machine_learning/#installation
while following just the tutorial written, and when I launched the stage 2 roslaunch, it suddenly needs cuda ver 9 / cudnn 7, but never described on.
cuda now supports with ver 10 (automatically installed with this), and you know that cuda versions are noncooperative to another.
best.
Hi,
When I installed Additional Dependent Packages for AutoRace on Pi, it has the following issues . Could you please advise how can I fix it?
pi@raspberrypi:~$ sudo apt-get install ros-kinetic-image-transport ros-kinetic-cv-bridge ros-kinetic-vision-opencv python-opencv libopencv-dev ros-kinetic-image-proc
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-kinetic-image-transport
E: Unable to locate package ros-kinetic-cv-bridge
E: Unable to locate package ros-kinetic-vision-opencv
E: Unable to locate package ros-kinetic-image-proc
Hello, I am working on a project with a Bioloid robot and AX-12A Servos. I just want to ask if it is possible to use the Dynamixel SDK and the CM-530 as an intermediary to control the servos. I only have the CM-530 and Linux, so the kernel detects the CM-530 serial protocol without problem, so I want to ask if I have the opportunity to use Dynamixel on the CM-530, because roboplus does not run natively on linux.
Hi,
When I installed Additional Dependent Packages for AutoRace on Pi, it has the following issues . Could you please advise how can I fix it?
pi@raspberrypi:~$ sudo apt-get install ros-kinetic-image-transport ros-kinetic-cv-bridge ros-kinetic-vision-opencv python-opencv libopencv-dev ros-kinetic-image-proc
Reading package lists... Done
Building dependency tree
Reading state information... Done
E: Unable to locate package ros-kinetic-image-transport
E: Unable to locate package ros-kinetic-cv-bridge
E: Unable to locate package ros-kinetic-vision-opencv
E: Unable to locate package ros-kinetic-image-proc
Hello,
I am writing regarding some problems/suggestions to the open_manipulator documentation, described below:
Please run roscore before rosrun, because rosrun can't operate without roscore. The rosrun and roscore should be run in each other terminal.
This information is not correct. Rosrun can also be used as a simple way to run executables in a ros package. In this case, since create_udev_rules is a simple bash script without ROS dependencies, it is fine to rosrun it without a roscore (it does need to have /opt//setup.bash sourced)
Hi,
Battery voltage went down to 11V on my Turtlebot 3 so it started beeping and actuators got disabled.
I plugged the power supply, replaced the battery by a charged one and unplugged the power supply.
Now I would like to re-enable the actuators.
Currently the only way I found is a full reboot of the OpenCR + SBC which is pretty cumbersome.
Is there a better way ?
If a motor is set to operate in PWM mode, does the Profile Acceleration register do anything? From the docs, it says that Profile Acceleration applies to all control modes except for current - but I fail to see how it applies to PWM as well...
Reading https://emanual.robotis.com/docs/en/platform/turtlebot3/faq/#setup-dynamixels-for-turtlebot3
I think it would be useful to be more specific on the hardware setup.
Reasonably the USB needs to plugged into the PC, but at which step do I need to connect the OPENCR
to power supply?
I figure having connected the power supply all the time should do no harm, yet some more specification could be useful to people getting started on the topic.
Hello,
According to the emanual, KpD is equal to KPD = KPD(TBL) / 16. Since KPD(TBL) is equal to 4000, it gives a very big value. It doesn't seem to be realistic.
On the other hand, when you look at the drawing of the position controller, it is written that KpD is entry 82 in the table, not 80.
So I have the impression that KpD and KpI are switched. I think it should be:
KPD = KPD(TBL) / 65,536
and
KPI = KPI(TBL) / 16
Thanks in advance,
Nicolas
when I use the DYNAMIXEX motor type XM540 ，the gearbox is easy to broken when there is some impact or vibration，so I want to ask if there is gear accessories to replace the broken one? thank you very mach
I've found that the commands for opening the various turtlebot3 rviz models are missing from the most recent documentation (found at emanual.robotis.com/docs/en/platform/turtlebot3), and am unable to find them. For instance, the page on slam does not provide the command for opening rviz for mapping.
They're simple to reconstruct, but its much easier when providing these resources to students to have the relevant rviz commands placed in the documentation right after e.g. starting gmapping.
Could these be added back in, or at least documented in some way?
I am unable to control M42P-010-s260-R Pro Plus servo because there is no description in the library. When pinging the servo using the "ping" SDK example with both the OpenCr1.0 and the OpenCM9.04 the model # comes up as "0"
I am able to control H42P servo no problem. This problem exists in the dynamixel_workbench as well as the dynamixelSDK
Here on the performance graph of xl-430, current scale seems weird. Some divisions mean 0.2 A, some are 0.1 A. Is it a typo or current-torque relation is not linear as seen in graph?
catkin_package() DEPENDS on 'Eigen3' but neither 'Eigen3_INCLUDE_DIRS' nor
'Eigen3_LIBRARIES' is defined.
What is this above error shows?
How can i Solve it?
Hi Guys,
im using a turtlebot 3 withe RosNoetic for RPI4.
I followed the introduction and everything works (Bringup, Teleop..)
Now i tried to do the camera calibration like the manuel but after i launch the raspberry_pi_camera_publish
i get this Error and cant find a solution.
Hope anyone can Help me out
Cheers
On the Noetic SBC setup in the manual, on point "3.2.6 Configure the WiFi Network Setting", on point 1 "Boot Up the Raspberry Pi", in point "e", you say that the user ID and Password are "ubuntu", but the Password actually is "turtlebot"
I just downloaded the Raspbian image from the following link in the setup wiki:
http://www.robotis.com/service/download.php?no=1738
which redirects to an https site here:
https://www.robotis.com/service/download.php?no=1738
The sha256 checksum doesn't match the wiki.
I perform shasum -a 256 image_rpi_20190429.img.zip and get the following:
eb8173f3727db08087990b2c4e2bb211e70bd54644644834771fc8b971856b97
The wiki states the sum should be:
7a868c275169b1f02c04617cc0cce9654fd8222623c78b22d0a27c73a9609398
Has the image changed?
Hi,
I wanted to replace ToF sensor(OPT8241) with lidar sensor in turtlebot 3 burger and implement slam on it. Is it possible? and how can i do that?
Hi! There are some issues when I try making XM430-W350-R work. I use U2D2 as the connector and install the lib on python Linux by following the url http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/library_setup/python_linux/#python-linux. when I run python read_write.py, it doesn't work so I run sudo python read_write.py. It do start working, but the motor doesn't move. The message shows like this:
Succeeded to open the port
Succeeded to change the baudrate
[TxRxResult] There is no status packet!
Press any key to continue! (or press ESC to quit!)
[TxRxResult] There is no status packet!
[TxRxResult] There is no status packet!
[ID:001] GoalPos:010 PresPos:000
Press any key to continue! (or press ESC to quit!)
[TxRxResult] There is no status packet!
[TxRxResult] There is no status packet!
[ID:001] GoalPos:4000 PresPos:000
[TxRxResult] There is no status packet!
[ID:001] GoalPos:4000 PresPos:000
[TxRxResult] There is no status packet!
[ID:001] GoalPos:4000 PresPos:000
[TxRxResult] There is no status packet!
[ID:001] GoalPos:4000 PresPos:000
What should I do to fix this? Did I do anything wrong?
OpenCR and BT410 modules are used.
When the BT410 module is disconnected, the garbage value comes on.
How can we solve this?
Hi,
I was following the instructions on installing raspicam for my Turtlebot 3 Burger with ROS Noetic. I notice that the first instruction is run sudo raspi-config. I notice that it does not exist in the image. Is there instructions to install it? I am currently stuck on trying to enable the camera as it errors out saying that it is currently disabled.
Is this means turtlebot3 ros2 is not supported any more?
Please update the website regarding the installation manual of the ROS packages,
that you should download the branch of the distribution you need. For example:
git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/open_manipulator.git
Just wasted an hour on this trying to figure out why it keeps crashing :(
All the TurtleBot3 hardware links of the form http://www.robotis.com/service/download.php?no=690 pop up and say " 파일 정보가 존재하지 않습니다."
Hi, new eManual looks great !!!!
http://emanual.robotis.com/docs/kr/edu/dream/dream2-3/#%EA%B5%90%EC%95%88%EC%98%88%EC%A0%9C
교안 예제를 다운받으려고 합니다. dropbox 링크가 깨진건지 다운로드 되지 않습니다. 확인 부탁드립니다.
Hi, as I used the XM430-W210 motors for a school project I noticed that time-based profile cannot be set unless firmware version is v42, and not v38 as the e-Manual states.
That being said, thanks for the Dynamixel Wizard that helped fix my problem !
Hello!
I'd like to ask you some question.
According to https://github.com/ROBOTIS-GIT/emanual/blob/master/docs/en/platform/turtlebot3/specifications.md TurtleBot3 Waffle Pi contains a magnetometer. https://emanual.robotis.com/docs/en/parts/controller/opencr10/ mentions that in new boards ICM-20648 is used, which doesn't feature a magnetometer.
Can someone verify this?
http://emanual.robotis.com/docs/en/platform/turtlebot3/machine_learning/#machine-learning
This section is incomplete
https://www.youtube.com/watch?v=6Pnz26p_FjY
This video show the function of time-based profile and in the video, a software was used to plot the curve of the veloctiy?
Could you tell me what kind of software was used in this video to plot the velocity data？
Besides, in the e-manual, I didn't find the response time of the servo, do you have any data about the response time of MX64 and MX106.
Thank you!
http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/
XM 시리즈의 혼에 대한 설명인데 MX28의 사진이 사용되었습니다. 변경이 요구됩니다.
And Open the other terminal window and enter the following command in the terminal. This command is to execute a package that recognizes the ar marker. Enter the type of camera you are using and the size of the ar marker. In this example, we use a Raspberry Pi Camera V2 and 3cm ar marker.
$ open_manipulator_ar_markers ar_pose.launch camera_model:=raspicam user_marker_size:=3.0
(NOTE the roslaunch command is missing)
I.E $ roslaunch open_manipulator_ar_markers ar_pose.launch camera_model:=realsense_d435 user_marker_size:=3.0
Excuse me.
I'd like to configure the environment of the API on this page, but it was not supported by visual studio 2017, so it could not be set.
Is there any way to solve it?
The OS you are using is Windows.
http://support.robotis.com/jp/software/dynamixel_sdk/usb2dynamixel/windows/visual_c++.htm
I would like you to tell me.
Suggest change to add "curl" to instructions @ https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/
3.2.5 Install ROS Noetic Ninjemys
change =
$ https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_noetic_rp3.sh
to =
$ curl https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_noetic_rp3.sh --output install_ros_noetic_rp3.sh
?
I read Protocol 1.0，but i can't see the parameters. How can I get these parameters .
I use Galactic and compiled from source on Archlinux.
I wanted to start the following simulation according to Gazebo-simulation:
$ export TURTLEBOT3_MODEL=waffle_pi
$ ros2 launch turtlebot3_gazebo empty_world.launch.py
I got the following error:
...
[gzserver-1] malloc(): corrupted top size
[ERROR] [gzserver-1]: process has died [pid 4177, exit code -6, cmd 'gzserver /opt/ros/galactic-turtlebot3-quickstart/share/turtlebot3_gazebo/worlds/empty_world.world -s libgazebo_ros_init.so -s libgazebo_ros_factory.so -s libgazebo_ros_force_system.so '].
[ERROR] [gzclient -2]: process has died [pid 4179, exit code 255, cmd 'gzclient '].
...
The solution was to append the path where libgazebo_ros_init.so can be found to GAZEBO_PLUGIN_PATH. For example:
$ find /opt/ros -iname libgazebo_ros_init.so
/opt/ros/galactic-turtlebot3-quickstart/lib/libgazebo_ros_init.so
$ GAZEBO_PLUGIN_PATH+=/opt/ros/galactic-turtlebot3-quickstart/lib:
$ ros2 launch turtlebot3_gazebo empty_world.launch.py
I am not on a supported platform and I do not know if this problem also occurs in Ubuntu. I could only find an older issue: ROBOTIS-GIT/turtlebot3_simulations#43
This problem does not happen if I start another simulations like:
gazebo --verbose <gazebo-ros-pkgs-path>/share/gazebo_plugins/worlds/gazebo_ros_diff_drive_demo.world
I would be glad if someone could verify this. If verified, then we could include this notice in the docs.
React
A declarative, efficient, and flexible JavaScript library for building user interfaces.
🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
Typescript
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
Django
The Web framework for perfectionists with deadlines.
Laravel
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. 📊📈🎉
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
Facebook
We are working to build community through open source technology. NB: members must have two-factor auth.
Microsoft
Open source projects and samples from Microsoft.
Google
Google ❤️ Open Source for everyone.
Alibaba
Alibaba Open Source for everyone
D3
Data-Driven Documents codes.
Tencent
China tencent open source team.