Turtlebot入门-ROS系统安装(indigo版本)

Turtlebot入门-ROS系统安装(indigo版本)

说明：

• 介绍如何在PC上安装ROS的indigo版本

Indigo安装指南

ROS有不同的发行版本，我们使用长期支持的版本，indigo版本。

参考安装指南：http://wiki.ros.org/indigo/Installation/Ubuntu

1. 安装源

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

2. 增加key

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116

3. 更新

sudo apt-get update

4. 安装，这里介绍Desktop-Full安装: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

sudo apt-get install ros-indigo-desktop-full

5. 解决依赖

sudo rosdep init
rosdep update

6. 环境设置

echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc

7. 安装rosinstall,便利的工具

sudo apt-get install python-rosinstall

卸载indigo

• 用apt-get方式安装indigo的，卸载使用如下命令：

$ sudo apt-get remove ros-indigo-*

• 卸载成功的效果：就是/opt下的ROS文件夹indigo被删除

Turtlebot包安装

参考安装指南：http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation

安装Turtlebot，打开终端，运行如下命令:

sudo apt-get update
sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs

参考：

http://wiki.ros.org/Robots/TurtleBot
http://wiki.ros.org/turtlebot/Tutorials/indigo/Kobuki%20Base
http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation
http://wiki.ros.org/indigo/Installation/Ubuntu