# 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.
