Turtlebot4入门教程-turtlebot4-setup设置工具

说明：

• 介绍TurtleBot4 humble版本的命令行设置工具，可以简化配置过程

• 介绍如何使用turtlebot4-setup来配置wifi

• 使用的ROS系统：humble

步骤：

• 在终端上输入命令，运行

turtlebot4-setup

或者

ros2 run turtlebot4_setup turtlebot4_setup

• 效果如下，选择Wi-Fi Setup

  _____         _   _     ___      _   _ _    ___      _                        
 |_   _|  _ _ _| |_| |___| _ ) ___| |_| | |  / __| ___| |_ _  _ _ __            
   | || || | '_|  _| / -_) _ \/ _ \  _|_  _| \__ \/ -_)  _| || | '_ \           
   |_| \_,_|_|  \__|_\___|___/\___/\__| |_|  |___/\___|\__|\_,_| .__/           
                                                           |_|              
                                                                            
Press Q, Esc, or CTRL+C to go back.                                             
---------------------------------------------------------------------           
> ROS Setup                                                                     
  Wi-Fi Setup                                                                   
  Bluetooth Setup                                                               
                                                                            
  View Settings                                                                 
  Apply Settings                                                                
                                                                            
  About                                                                         
  Help                                                                          
  Exit

• 连接到现有网络时，将 Wi-Fi 模式更改为“Client客户端”，配置完，选择Save保存

> Wi-Fi Mode            [Client]                                                
  SSID                  [ChuangKeZhiZao]                                        
  Password              [输入wifi密码]                                             
  Band                  [Any]                                                   
  IP Address            [192.168.0.56]                                          
  DHCP                  [False]                                                 
                                                                            
  Apply Defaults                                                                
  Save  

• 进入到首页，选择Apply Settings，应用设置

  _____         _   _     ___      _   _ _    ___      _                        
 |_   _|  _ _ _| |_| |___| _ ) ___| |_| | |  / __| ___| |_ _  _ _ __            
   | || || | '_|  _| / -_) _ \/ _ \  _|_  _| \__ \/ -_)  _| || | '_ \           
   |_| \_,_|_|  \__|_\___|___/\___/\__| |_|  |___/\___|\__|\_,_| .__/           
                                                           |_|              
                                                                            
Press Q, Esc, or CTRL+C to go back.                                             
---------------------------------------------------------------------           
  ROS Setup                                                                     
  Wi-Fi Setup                                                                   
  Bluetooth Setup                                                               
                                                                            
  View Settings                                                                 
> Apply Settings                                                                
                                                                            
  About                                                                         
  Help                                                                          
  Exit       

• 是否应用设置，选择Yes

    _             _        ___      _   _   _                                   
   /_\  _ __ _ __| |_  _  / __| ___| |_| |_(_)_ _  __ _ ___                     
  / _ \| '_ \ '_ \ | || | \__ \/ -_)  _|  _| | ' \/ _` (_-<                     
 /_/ \_\ .__/ .__/_|\_, | |___/\___|\__|\__|_|_||_\__, /__/                     
       |_|  |_|     |__/                          |___/                         
                                                                            
No changes made.                                                                
                                                                            
Apply these settings?                                                           
                                                                            
**Notes**                                                                       
- Changes applied to ROS_DOMAIN_ID, ROBOT_NAMESPACE, RMW_IMPLEMENTATION,        
  or ROS_DISCOVERY_SERVER  will be applied to the Create 3 as well.             
- Changes applied to Wi-Fi will cause SSH sessions to hang.                     
                                                                            
Press Q, Esc, or CTRL+C to go back.                                             
------------------------------------------------------------------------        
  Yes                                                                           
> No