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Turbot3入门教程-安装-系统和软件安装

Turbot3入门教程-安装-系统和软件安装

说明:

  • 介绍在小车和PC上安装系统和软件

系统安装:

  • Ubuntu16.04 系统安装(PC):参考
  • Ubuntu16.04 系统安装(小车):参考

软件安装:

  • ROS版本kinetic安装(PC): 参考
  • ROS版本kinetic安装(小车):参考

Turtlebot3安装:

  • 安装turtlebot3依赖:
$ 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/turtlebot3_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/catkin_ws && catkin_make
  • 添加别名
$ 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

Turbot3安装

$ mkdir -p ~/turbot3_ws/src
$ cd ~/turbot3_ws/src
$ git clone https://github.com/ncnynl/turbot3
$ cd .. 
$ catkin_make

kinect v1驱动安装:

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

rplidar A2雷达驱动安装:

$ mkdir -p ~/turbot3_ws/src
$ cd ~/turbot3_ws/src
$ git clone https://github.com/ncnynl/rplidar_ros
$ cd .. 
$ catkin_make

添加模型声明

$ echo "export TURTLEBOT3_MODEL=waffle" >> ~/.bashrc

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