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Puppy机器狗入门教程-配置-PC设置

Puppy机器狗入门教程-配置-PC设置

说明

  • 介绍如何在PC上安装相关系统和软件

安装Ubuntu

安装ROS-Noetic:

  • [Remote PC] 添加ros源
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
  • [Remote PC] 增加key
$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  • [Remote PC] 上面如果添加不成功,可以如下增加key
$ curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -
  • [Remote PC] 更新软件
$ sudo apt update
  • [Remote PC] 安装ros
$ sudo apt install ros-noetic-desktop-full
  • [Remote PC] 把ros环境加载脚本添加到bashrc
$ echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

安装Puppy的ROS包

  • [Remote PC] 安装相关软件包

    $ sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc ros-noetic-rgbd-launch ros-noetic-rosserial-arduino ros-noetic-rosserial-python ros-noetic-rosserial-client ros-noetic-rosserial-msgs 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-gmapping ros-noetic-navigation ros-noetic-interactive-markers ros-noetic-slam-karto ros-noetic-dwa-local-planner ros-noetic-teb-local-planner vim --fix-missing

  • [Remote PC]安装puppy包

$ mkdir -p ~/catkin_ws/src/ && cd ~/catkin_ws/src/
// 采取scp方式复制源代码 
$ scp -r ubuntu@[此处填写当前树莓派的ip]:~/puppy_ws/src/puppy_ros/ ~/catkin_ws/src/
$ cd ~/catkin_ws && catkin_make
  • [Remote PC] 添加雷达设置声明
$ echo "export PUPPY_LASER=rplidar_a1" >> ~/.bashrc
  • [Remote PC] 环境设置
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

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标签: puppy机器狗入门教程