TurtleBot3入门教程#ROS2版#-PC安装

文章说明

• 本教程介绍如何在在PC上安装对应的系统和软件
• 系统与ROS版本对应关系：
  • Ubuntu 20.04 - ROS1 Noetic and ROS2 Foxy
  • Ubuntu 22.04 - ROS2 Humble
• 若当前手上使用的是创客智造提供的虚拟机则不需要进行以下的安装步骤

相关设备

• TB3套件：采购地址

安装步骤

系统安装

• Ubuntu系统入门教程-安装ubuntu20.04

• Ubuntu系统入门教程-安装ubuntu22.04

ROS2 安装

• [Remote PC] ros2 foxy安装教程：ROS2入门教程-在ubuntu20.04 apt安装ros2的foxy版本

• [Remote PC] ros2 humble安装教程：ROS2入门教程-在ubuntu22.04下apt安装ros2版本humble

安装TurtleBot3及相关依赖包

• [Remote PC] 安装相关依赖包

$ sudo apt install -y python3-argcomplete python3-colcon-common-extensions python3-vcstool git

# foxy版
$ sudo apt-get install ros-foxy-gazebo-* ros-foxy-cartographer ros-foxy-cartographer-ros \
  ros-foxy-nav2-bringup ros-foxy-navigation2 ros-foxy-slam-toolbox

# humble版
$ sudo apt-get install ros-humble-gazebo-* ros-humble-cartographer ros-humble-cartographer-ros \
  ros-humble-nav2-bringup ros-humble-navigation2 ros-humble-slam-toolbox

• [Remote PC] 安装TurtleBot3包

$ sudo apt update
$ sudo apt install libudev-dev
$ mkdir -p ~/turtlebot3_ws2/src
$ cd ~/turtlebot3_ws2/src/

# foxy版
$ git clone -b foxy-devel https://ghproxy.com/https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone -b foxy-devel https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b foxy-devel https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3.git
$ git clone -b foxy-devel https://ghproxy.com/https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
$ git clone -b ros2-devel https://ghproxy.com/https://github.com/ROBOTIS-GIT/ld08_driver.git

# humble版    
$ git clone -b humble-devel https://ghproxy.com/https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone -b humble-devel https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b humble-devel https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3.git
$ git clone -b humble-devel https://ghproxy.com/https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
$ git clone -b ros2-devel https://ghproxy.com/https://github.com/ROBOTIS-GIT/ld08_driver.git

$ cd ~/turtlebot3_ws2
$ colcon build --symlink-install
$ echo 'source ~/turtlebot3_ws2/install/setup.bash' >> ~/.bashrc
$ source ~/.bashrc

• [Remote PC] 环境配置

# 根据当前所使用的机型来配置当前TURTLEBOT3_MODEL
$ echo 'export TURTLEBOT3_MODEL=burger #burger or waffle_pi' >> ~/.bashrc

$ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
$ source ~/.bashrc

虚拟机版本切换

• 若测试用的ubuntu20.04虚拟机为创客智造提供的，默认的ros版本为Noetic。如果想要切换到Foxy环境，则需要进行环境切换
• 若提供的为ubuntu22.04虚拟机则忽略当前步骤

• [Remote PC] 若当前需要从Noetic切换到Foxy环境，需要将文档末端的两项环境变量全部注释，保存退出关闭此终端

$ vim ~/.bashrc
   
#source ~/tools/environment/noetic/setRosNoeticEnvironment.sh
#source ~/tools/environment/foxy/setRos2FoxyEnvironment.sh

$ exit

• [Remote PC] 打开新终端，将文档末端Foxy的环境变量的注释标志去掉，再保存退出

$ vim ~/.bashrc
   
#source ~/tools/environment/noetic/setRosNoeticEnvironment.sh
source ~/tools/environment/foxy/setRos2FoxyEnvironment.sh

$ source ~/.bashrc && rosversion -d
foxy