Turtlebot3-ROS2入门教程-PC安装

说明：

• 介绍如何进行Turtlebot3-ROS2入门教程中的PC安装

相关设备：

• Turtlebot3-ROS2套件，采购地址

安装步骤

• 安装Ubuntu Bionic 18.04 LTS 操作系统

  • 官方镜像下载

  • 使用UltraISO（软碟通）制作U盘启动盘

• 安装ROS2 Dashing机器人操作系统

• [Remote PC] 安装ROS2依赖包

# Install Colcon
$ sudo apt install python3-colcon-common-extensions
# Install Cartographer dependencies
$ sudo apt install -y \
    google-mock \
    libceres-dev \
    liblua5.3-dev \
    libboost-dev \
    libboost-iostreams-dev \
    libprotobuf-dev \
    protobuf-compiler \
    libcairo2-dev \
    libpcl-dev \
    python3-sphinx
# Install Gazebo9
$ curl -sSL http://get.gazebosim.org | sh
$ sudo apt install ros-dashing-gazebo-*
# Install Cartographer
$ sudo apt install ros-dashing-cartographer
$ sudo apt install ros-dashing-cartographer-ros
# Install Navigation2
$ sudo apt install ros-dashing-navigation2
$ sudo apt install ros-dashing-nav2-bringup
# Install vcstool
$ sudo apt install python3-vcstool

• [Remote PC] 安装TurtleBot3 ROS2包

$ mkdir -p ~/turtlebot3_ws/src
$ cd ~/turtlebot3_ws
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/ros2/turtlebot3.repos
$ vcs import src < turtlebot3.repos
$ colcon build --symlink-install

• [Remote PC] 环境配置

$ echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
$ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
$ source ~/.bashrc

• [Remote PC] 由于测试使用的是TurtleBot3-Buger，故配置模型的环境变量为burger

$ echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc