TX1入门教程软件篇-安装Turtlebot

TX1入门教程软件篇-安装Turtlebot

说明：

介绍如何在TX1上安装Turtlebot
Kinetic版本没有完全合适的二进制包，进入二进制安装会有一些包无法安装的，这里采用源码方式安装。

turtlebot源码安装

安装准备

安装好kinetic，参考教程
安装依赖和更新：

$ sudo apt-get install python-rosdep python-wstool  
$ sudo rosdep init
$ rosdep update

分别建立三个工作空间rocon，kobuki，turtlebot，下载和编译源码
建立rocon目录，下载和编译，rocon都有对应的kinetic版本

$ mkdir ~/rocon
$ cd ~/rocon
$ wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/release/kinetic/rocon.rosinstall
$ source /opt/ros/kinetic/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make

如果wstool更新失败，可以重新更新：

$ wstool update -t src

建立kobuki目录，下载和编译.
kobuki使用kinetic的版本下载会失败，先用indigo版本生成下载的rosinstall文件，再修改对应包为kinetic版本

$ mkdir ~/kobuki
$ cd ~/kobuki
$ wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/kobuki.rosinstall 
$ vim kobuki.rosinstall #参照kobuki.rosinstall文件内容，修改后在进行。
$ wstool init src -j5 kobuki.rosinstall 
$ source ~/rocon/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make

kobuki.rosinstall 文件为：

# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2016-12-08
- git:
    local-name: kobuki
    uri: https://github.com/yujinrobot/kobuki.git
    version: kinetic
- git:
    local-name: kobuki_core
    uri: https://github.com/yujinrobot/kobuki_core.git
    version: kinetic
- git:
    local-name: kobuki_desktop
    uri: https://github.com/yujinrobot/kobuki_desktop.git
    version: kinetic
- git:
    local-name: kobuki_msgs
    uri: https://github.com/yujinrobot/kobuki_msgs.git
    version: kinetic
- git:
    local-name: yocs_msgs
    uri: https://github.com/yujinrobot/yocs_msgs.git
    version: release/0.6-kinetic
- git:
    local-name: yujin_ocs
    uri: https://github.com/yujinrobot/yujin_ocs.git
    version: kinetic

建立turtlebot目录，下载和编译.
turtlebot使用kinetic的版本下载会失败，先用indigo版本生成下载的rosinstall文件，再修改对应包为kinetic版本，没有kinetic版本的保持为indigo版本

$ mkdir ~/turtlebot
$ cd ~/turtlebot
$ wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall
$ vim turtlebot.rosinstall #参照turtlebot.rosinstall文件内容，修改后在进行。
$ wstool init src -j5 turtlebot.rosinstall
$ source ~/kobuki/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make

turtlebot.rosinstall文件内容:

# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2016-12-08
- git:
    local-name: turtlebot
    uri: https://github.com/turtlebot/turtlebot.git
    version: kinetic
- git:
    local-name: turtlebot_apps
    uri: https://github.com/turtlebot/turtlebot_apps.git
    version: indigo
- git:
    local-name: turtlebot_create
    uri: https://github.com/turtlebot/turtlebot_create.git
    version: indigo
- git:
    local-name: turtlebot_create_desktop
    uri: https://github.com/turtlebot/turtlebot_create_desktop.git
    version: kinetic
- git:
    local-name: turtlebot_interactions
    uri: https://github.com/turtlebot/turtlebot_interactions.git
    version: indigo
- git:
    local-name: turtlebot_msgs
    uri: https://github.com/turtlebot/turtlebot_msgs.git
    version: indigo
- git:
    local-name: turtlebot_simulator
    uri: https://github.com/turtlebot/turtlebot_simulator.git
    version: indigo

Turtlebot二进制安装：

执行安装：

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

有些包可能不能安装，如可能为：

 ros-kinetic-rocon-remocon ros-kinetic-rocon-qt-library ros-kinetic-turtlebot-simulator

上述包采用源安装
新建工作空间

mkdir -p ~/turtlebot_ws/src
cd ~/turtlebot_ws/src
git clone https://github.com/robotics-in-concert/rocon_qt_gui.git
git clone https://github.com/turtlebot/turtlebot_simulator.git 
cd ..
catkin_make

问题：提示pyrcc5，pyrcc4没找到
解决：安装pyqt4-dev-tools pyqt5-dev-tools
顺利完成之后，Turtlebot就成功安装
添加到~/.bashrc:

source ~/turtlebot_ws/devel/setup.bash

生成kobuki别名

$ rosrun kobuki_ftdi create_udev_rules

安装kinect驱动

$ sudo apt-get install ros-kinetic-openni-* ros-kinetic-openni2-* ros-kinetic-freenect-*

测试turtlebot

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