Turbot3入门教程-安装-系统和软件安装（ubuntu16.04）

Turbot3入门教程-安装-系统和软件安装（ubuntu16.04）

说明：

• 介绍在小车和PC上安装系统和软件

系统安装：

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

软件安装：

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

Turtlebot3安装：

• 安装turtlebot3依赖：

$ 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

• 安装turtlebot3

$ cd ~/catkin_ws/src

$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/catkin_ws && catkin_make

• 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

kinect v1驱动安装：

$ sudo apt-get install  ros-kinetic-freenect-*

Turbot3安装

$ 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

• 增加雷达别名

$ roscd rplidar_ros
$ ./scripts/create_udev_rules.sh

添加模型声明

$ echo "export TURTLEBOT3_MODEL=waffle" >> ~/.bashrc
$ echo "export TURTLEBOT3_3D_SENSOR=kinect" >> ~/.bashrc
$ echo "export TURTLEBOT3_LASER_SENSOR=rplidar" >> ~/.bashrc