Turtlebot入门教程-源码安装turtlebot

Turtlebot入门教程-源码安装turtlebot

说明

• 当想了解源码或增加新传感器或底座等，就需要改写原来的代码，那么自然就要通过源码安装turtlebot了。
• 介绍源码安装turtlebot

步骤

• 安装准备

> sudo apt-get install python-rosdep python-wstool ros-indigo-ros
> sudo rosdep init
> rosdep update

• 依照顺序，在根目录安装rocon、kobuki、turtlebot三个工作空间，用相应的名称，也可以都放在同一个目录turtlebot_ws

> mkdir ~/rocon
> cd ~/rocon
> wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/release/indigo/rocon.rosinstall
> source /opt/ros/indigo/setup.bash
> rosdep install --from-paths src -i -y
> catkin_make

> mkdir ~/kobuki
> cd ~/kobuki
> wstool init src -j5 https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/kobuki.rosinstall
> source ~/rocon/devel/setup.bash
> rosdep install --from-paths src -i -y
> catkin_make

> mkdir ~/turtlebot
> cd ~/turtlebot
> wstool init src -j5 https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall
> source ~/kobuki/devel/setup.bash
> rosdep install --from-paths src -i -y
> catkin_make