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TurtleBot3 Setup for Stanford AA174 / AA274

Upgrade From Existing ROS1 Image

  1. Log into the TX2 from a host machine, replacing <name> with the actual robot name labeled on the LiDAR. 
    ssh aa274@<name>.local  # e.g. ssh [email protected]
  2. Update the turtlebot3_setup repo 
    cd ~/turtlebot3_setup && git pull
  3. Flash OpenCR with ROS2 compatible firmware 
    ./flash_opencr_humble.sh
    Note: check output for any errors, this command might need to be run twice.
  4. Install ROS2 humble and drivers 
    ./setup_humble_and_deps.sh
  5. Setup ROS_DOMAIN_ID: different robot should have different domain IDs. 
    ./change_ros2_domain.sh  # enter the desirable domain ID when prompted

Flashing (TODO)

Re-flashing is not needed, but for reference, see legacy instructions.