Turbot3-AI多线入门教程-安装-Turtlebot3软件安装

Turbot3-AI多线入门教程-安装-Turtlebot3软件安装

说明

• 本教程介绍如何安装相关的Turtlebot3软件包

操作步骤

• 安装依赖

$ 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* \
  ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers

• 源码安装Turtlebot3软件包

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src/
$ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/catkin_ws && catkin_make
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bash

• 添加模型声明

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

• USB设置(以下允许将USB端口用于没有root权限的OpenCR板)

$ rosrun turtlebot3_bringup create_udev_rules