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Turtlebot3-waffle入门教程-PC安装

Turtlebot3-waffle入门教程-PC安装

说明:

  • 介绍如何在PC上安装相关系统和软件。
  • 测试的系统版本是Ubuntu 16.04.1, ROS版本是Kinetic Kame

安装Ubuntu

脚本安装ROS-kinetic:

wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/kinetic/ros_install.sh && chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
  • 如果不能顺利安装,可以参考源码安装方式

源码安装ROS-kinetic:

  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'
  • 或来自中国的源:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
  1. 增加key
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  1. 更新
sudo apt-get update
  1. 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-kinetic-desktop-full
  1. 解决依赖
sudo rosdep init
rosdep update
  1. 环境设置
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

7.安装rosinstall,便利的工具

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

安装TurtleBot3及依赖包:

  • 安装turtlebot3依赖包:
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源码
cd ~/catkin_ws/src/
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,使用TurtleBot3的准备将完成。

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