# Turtlebot3s.md

Download Image: [ROS Noetic Ubuntu 20.04](https://drive.google.com/file/d/1EGy9g5gE4kLXJk-oa_l-MDt5miUB33-r/view?usp=sharing)

## Instructions:

1. Flash the image into a microsd card using an imager (dd for linux, or RPiImager).
2. Connect the Turtlebot to a monitor and keyboard, insert the microsd card and turn on the bot.
3. Log into the turtlebot with the username: *ubuntu* and the password: *ROSlab134*
4. You will want to remove the tailscale information using the following commands:

   ```

   sudo apt-get remove tailscale
   sudo rm /var/lib/tailscale/tailscaled.state
   sudo nano /etc/hostname
   # change the hostname in this file from "roba" to your robot's name
   sudo reboot now
   ```
5. Once the turtlebot is rebooted, change the hostname and reinstall tailscale:

   ```

   sudo apt-get install tailscale
   sudo tailscale up --authkey=ask-pito-for-code
   ```
6. Now update the OpenCR board with the following commands:

   ```

   export OPENCR_PORT=/dev/ttyACM0
   export OPENCR_MODEL=burger_noetic # or waffle_noetic if you have a waffle tb3
   rm -rf ./opencr_update.tar.bz2
   wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS1/latest/opencr_update.tar.bz2
   tar -xvf opencr_update.tar.bz2
   cd ./opencr_update
   ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr
   ```
7. Once the OpenCR board is updated, shut down your bot and turn it back on and you are done with the setup.


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