turtlebot3c-ubuntu-core

Turtlebot3c Ubuntu Core image

The image contains the TurtleBot3c snaps:

• turtlebot3c-bringup
• turtlebot3c-nav
• turtlebot3c-teleop

The image creates a Hotspot called turtlebot3c with the password turtlebot3c.

Once connected to the hotspot, the robot is available on the network as turtelbot3c.local. Mind that you need avahi installed on your remote machine, see e.g. snap install avahi.

Remember to set up the ROS_MASTER_URI to point to the robot:

ROS_MASTER_URI=http://turtelbot3c.local:11311/

Download the image

The image can be downloaded from the latest release.

After downloading the file turtlebot3c.img.tar.gz and decompressing it, the image can be written to an SD card.

Build the image

Build the gadget snap

Build the gadget snap with snapcraft:

cd turtlebot3c-gadget
snapcraft
cd ../

Sign the model

Sign the model with your key:

snap sign -k tb3c-key turtlebot3c-model.json > turtlebot3c.model

Generate the TurtleBot3c Ubuntu Core image

Generate the image:

ubuntu-image snap turtlebot3c.model --snap ./turtlebot3c-gadget/turtlebot3c-pi_*_arm64.snap

Boot the image

Write the generated image on an SD card with the rpi-imager and boot.