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Turtlebot入门教程-安装Turtlebot(ubuntu16.04+kinetic)

Turtlebot入门教程-安装Turtlebot(ubuntu16.04+kinetic)

说明

  • 介绍PC安装ubuntu16.04+kinetic之后

turtlebot安装

  • 安装准备
$ sudo apt-get install python-rosdep python-wstool ros-kinetic-ros
$ sudo apt-get install pyqt5-dev-tools
$ 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
  • 建立kobuki目录,下载和编译.
$ mkdir ~/kobuki
$ cd ~/kobuki
$ wstool init -j5 src https://raw.githubusercontent.com/yujinrobot/yujin_tools/kinetic-devel/rosinstalls/kinetic/kobuki.rosinstall
$ source ~/rocon/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make
  • 建立turtlebot目录,下载和编译.
$ mkdir ~/turtlebot
$ cd ~/turtlebot
$ wstool init -j5 src https://raw.github.com/yujinrobot/yujin_tools/kinetic-devel/rosinstalls/kinetic/turtlebot.rosinstall
$ source ~/kobuki/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make

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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