Turtlebot3-ROS2入门教程-SBC安装

说明

• 介绍如何进行Turtlebot3-ROS2入门教程中的SBC安装

• 测试环境：树莓派 3B+ + Ubuntu Server 18.04.3

相关设备：

• Turtlebot3-ROS2套件，采购地址

镜像安装

注意: 请勿安装最新的Ubuntu Server 18.04.4,其可能在使用过程中出现故障,请依照以下链接下载Ubuntu Server 18.04.3

• 树莓派镜像下载：Raspberry Pi 3 (64-bit ARM) preinstalled server image
  

• 使用Win32 Disk Imager烧录镜像到SD卡

• 烧录完成后，将树莓派连上显示器及网线

• 默认的用户名和密码都是ubuntu，登录后系统会询问是否更改密码

网络配置

• [TurtleBot] ubuntu 18.04 使用的是netplan方式配置网络

$ sudo touch /etc/netplan/01-netcfg.yaml 
$ sudo vim /etc/netplan/01-netcfg.yaml
 network:
    version: 2
    renderer: networkd
    ethernets:
      eth0:
        dhcp4: yes
        dhcp6: yes
        optional: true
    wifis:
      wlan0:
        dhcp4: yes
        dhcp6: yes
        access-points:
          "wifi名称":
            password: "wifi密码"

• [TurtleBot] 固定IP设置示例

network:
        version: 2
        renderer: networkd
        ethernets:
          eth0:      
            dhcp4: no
            dhcp6: no
            addresses: [192.168.0.25/24]
            gateway4: 192.168.0.1
            nameservers: 
              addresses: [223.5.5.5, 8.8.8.8]
        wifis:
          wlan0:
            dhcp4: no
            dhcp6: no
            addresses: [192.168.0.25/24]
            gateway4: 192.168.0.1
            nameservers: 
              addresses: [223.5.5.5, 8.8.8.8]
            access-points:    
              ChuangKeZhiZao:
                password: ChuangKeZhiZao

• [TurtleBot] 应用修改好的设置后重启树莓派

$ sudo netplan apply

• [TurtleBot] 避免网络延迟，禁止systemd进程

$ systemctl mask systemd-networkd-wait-online.service

• [Remote PC] 测试使用ssh是否能连接上树莓派（在树莓派上执行ifconfig命令查看ip地址）

$ ssh ubuntu@<NETWORK IP of Raspberry PI>

增加交换空间

• [TurtleBot] 创建一个交换空间且赋予权限

$ sudo fallocate -l 1G /swapfile
$ sudo chmod 600 /swapfile

• [TurtleBot] 使用mkswap命令设置Linux的交换空间

$ sudo mkswap /swapfile

• [TurtleBot] 启用该交换空间

$ sudo swapon /swapfile

• [TurtleBot] 设置开机挂载

$ sudo vim /etc/fstab
//将下面这句话添加到文件末
/swapfile swap swap defaults 0 0

• [TurtleBot] 查看是否分配交换空间

$ sudo free -h
          total        used        free      shared  buff/cache   available
Mem:       912M         75M        254M        3.0M        582M        819M
Swap:      1.0G         35M        988M

安装ROS2 Dashing Diademata

• [TurtleBot] 更新和升级软件

$ sudo apt update && sudo apt upgrade

• [TurtleBot] 设置区域

$ sudo locale-gen en_US en_US.UTF-8 
$ sudo update-locale LC_ALL = en_US.UTF-8 LANG = en_US.UTF-8 
$ export LANG = en_US.UTF-8

• [TurtleBot] 设置源

$ sudo apt update && sudo apt install curl gnupg2 lsb-release
$ curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
$ sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

• [TurtleBot] 安装ROS2包

$ sudo apt update
$ sudo apt install ros-dashing-ros-base

• [TurtleBot] 安装TurtleBot3包

$ sudo apt install python3-argcomplete python3-colcon-common-extensions libboost-system-dev
$ mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/turtlebot3.git
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ cd ~/turtlebot3_ws/src/turtlebot3
$ rm -r turtlebot3_cartographer turtlebot3_navigation2
$ cd ~/turtlebot3_ws/
$ source /opt/ros/dashing/setup.bash
$ colcon build --symlink-install --parallel-workers 1

• [TurtleBot] 环境设置

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

在DDS通信中，远程PC和TurtleBot3之间的ROS_DOMAIN_ID必须要匹配上且需要两者都需要处于同一个网段下

• [TurtleBot] 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