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Turbot3-slam入门教程-安装-PC的系统和软件安装

Turbot3-slam入门教程-安装-PC的系统和软件安装

说明:

  • 介绍在PC上安装系统和软件

系统安装:

  • Ubuntu18.04 系统安装(PC):参考
  • Ubuntu18.04 系统安装(小车):参考

软件安装:

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

Turtlebot3安装:

  • 安装turtlebot3依赖:
$ sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-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

  • 从小车拷贝到PC上

realsense驱动安装:

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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