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Turtlebot3入门教程-SBC软件设置

Turtlebot3入门教程-SBC软件设置

说明:

  • 介绍如何在树莓派3上安装系统和软件

简便安装:

  • 在Raspberry Pi 3(TurtleBot3 burger)通过镜像安装Ubuntu MATE和Turtlebot3
  • 利用SDcard读卡器来安装TurtleBot3 burger映像
  • SD卡的容量应大于8 GB,以便安装TurtleBot3 burger映像
  • 磁盘映像文件包含Ubuntu MATE 16.04.1 + ROS kinetic kame + turtlebot3
  • Raspberry Pi 3镜像下载:稍后会提供
  • 镜像安装方法:Windows下利用Win32DiskImager进行系统安装

树莓派3手工安装:

  • 适用在树莓派3上安装(TurtleBot3 burger)

(1)安装Ubuntu MATE for Raspberry Pi 3

(2)为Raspberry Pi 3安装TurboBot3依赖的ROS包

  • 树莓派3接上显示屏和鼠标后,开机后继续安装软件包

  • 安装ROS方法1:

sudo apt-get update
sudo apt-get upgrade
wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic_rp3.sh && chmod 755 ./install_ros_kinetic_rp3.sh && bash ./install_ros_kinetic_rp3.sh
sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation
  • 安装turtlebot3
cd ~/catkin_ws/src
git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
cd ~/catkin_ws && catkin_make
  • 如果catkin_make完成没有任何错误,安装完成。
  • USB设置(以下允许将USB端口用于没有root权限的OpenCR板)
cd ~/catkin_ws/src/turtlebot3/turtlebot3_bringup
sudo cp ./99-turtlebot3-cdc.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules
sudo udevadm trigger
  • 至此Burger的树莓派安装完成

英特尔®Joule™手工安装:

  • 适用在英特尔®Joule™安装(TurtleBot3 waffle)

(1)安装Ubuntu的英特尔®Joule™(TurtleBot3 waffle型号)

(2)安装ROS和软件包

  • 参考树莓派3的安装ROS和软件包方法

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