Turtlebot3-ROS2入门教程-为OpenCR导入固件

Turtlebot3-ROS2入门教程-导入OpenCR固件

说明：

• 介绍如何在SBC单板电脑上为OpenCR控制板导入ROS2版本的固件

安装步骤：

• [TurtleBot] 为OpenCR控制板导入ROS2版本的固件

$ cd ~/turtlebot3
$ rm -rf ./opencr_update.tar.xz
$ wget https://github.com/ROBOTIS-GIT/OpenCR_Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.xz
$ tar -xf ./opencr_update.tar.xz

$ export OPENCR_PORT=/dev/ttyACM0
$ export OPENCR_MODEL=burger
$ cd ./opencr_update
$ ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr

• 导入成功时会出现以下信息

armv7l
arm
OpenCR Update Start..
opencr_ld_shell ver 1.0.0
opencr_ld_main 
[  ] file name      : burger.opencr 
[  ] file size      : 168 KB
[  ] fw_name        : burger 
[  ] fw_ver         : V180903R1 
[OK] Open port      : /dev/ttyACM0
[  ]
[  ] Board Name     : OpenCR R1.0
[  ] Board Ver      : 0x17020800
[  ] Board Rev      : 0x00000000
[OK] flash_erase    : 0.96s
[OK] flash_write    : 1.92s 
[OK] CRC Check      : 10E28C8 10E28C8 , 0.006000 sec
[OK] Download 
[OK] jump_to_fw 

• [TurtleBot] 按下reset按钮重置OpenCR