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Turtlebot3入门教程-系统-SBC软件设置(ubuntu20.04+Noetic)

Turtlebot3入门教程-系统-SBC软件设置(ubuntu20.04)

说明:

  • 介绍如何在树莓派3上安装ubuntu20.04系统和软件
  • 树莓派3接上显示屏和鼠标后,开机后继续安装软件包

(1)系统安装:

(2)ROS安装:

(3)TurboBot3依赖的ROS包安装

  • 安装turtlebot3依赖:
sudo apt-get install ros-noetic-joy  ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc ros-noetic-rgbd-launch ros-noetic-amcl ros-noetic-map-server ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro ros-noetic-compressed-image-transport ros-noetic-rqt-image-view  ros-noetic-navigation
  • 需要源码安装的依赖
cd ~/pkg_ws/src
git clone -b melodic-devel https://github.com/ros-teleop/teleop_twist_joy
git clone -b melodic-devel https://github.com/ros-perception/depthimage_to_laserscan
git clone -b noetic-devel https://github.com/ros-drivers/rosserial
git clone -b melodic-devel https://github.com/ros-perception/slam_gmapping
git clone -b melodic-devel https://github.com/ros-perception/openslam_gmapping
cd ~/pkg_ws && catkin_make
  • 安装turtlebot3
cd ~/tb3_ws/src
git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
cd ~/tb3_ws&& catkin_make
  • 如果catkin_make完成没有任何错误,安装完成。
  • USB设置(以下允许将USB端口用于没有root权限的OpenCR板)
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
  • 至此Burger的树莓派安装完成

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