Turbot3-ARM入门教程-软件安装

说明

• 本教程介绍如何在小车和PC安装相应的软件

• 安装环境：Ubuntu 16.04 + ROS Kinetic Kame

操作步骤

• 系统安装

  • Ubuntu16.04 系统安装（PC）：参考链接
  • Ubuntu16.04 系统安装（小车）：参考链接

• ROS安装

  • ROS版本kinetic安装（PC）： 参考链接
  • ROS版本kinetic安装（小车）：参考链接

• [TurBot3 SBC && Remote PC] 安装TurtleBot3相关包

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

• [TurBot3 SBC && Remote PC] 安装TurtleBot3

$ cd ~/catkin_ws/src   
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/catkin_ws && catkin_make

• [TurBot3 SBC] 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 SBC && Remote PC] 安装Turbot3相关包

$ mkdir -p ~/turbot3_ws/src
$ cd ~/turbot3_ws/src
$ git clone https://github.com/ncnynl/turbot3
$ git clone https://github.com/ncnynl/rplidar_ros
$ cd .. 
$ catkin_make && rospack profile
$ echo "source ~/turbot3_ws/devel/setup.bash" >> ~/.bashrc

$ roscd rplidar_ros
$ ./scripts/create_udev_rules.sh

• [TurBot3 SBC && Remote PC] 添加模型声明

$ echo "export TURTLEBOT3_MODEL=waffle" >> ~/.bashrc
$ echo "export TURTLEBOT3_3D_SENSOR=d435i" >> ~/.bashrc
$ echo "export TURTLEBOT3_LASER_SENSOR=hlds" >> ~/.bashrc

• [TurBot3 SBC && Remote PC] 安装OpenMANIPULATOR的驱动包

$ sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-industrial-core ros-kinetic-ar-track-alvar ros-kinetic-ar-track-alvar-msgs ros-kinetic-image-proc

$ mkdir -p ~/openManipulator_ws/src/ && cd ~/openManipulator_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_simulations.git
$ git clone https://github.com/ROBOTIS-GIT/robotis_manipulator.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_applications.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_controls.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_perceptions.git
$ cd ~/openManipulator_ws && catkin_make
$ echo "source ~/openManipulator_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

• [TurBot3 SBC && Remote PC] 安装Turtlebot3-ARM的驱动包

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_manipulation_simulations.git
$ git clone  -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_home_service_challenge.git
$ cd ~/catkin_ws && catkin_make

• [TurBot3 SBC] 安装usbcam驱动

$ cd ~/catkin_ws/src  
$ git clone https://github.com/ros-drivers/usb_cam  
$ cd ~/catkin_ws  
$ catkin_make