Turtlebot入门教程-安装Turtlebot(ubuntu16.04+kinetic)

Turtlebot入门教程-安装Turtlebot(ubuntu16.04+kinetic)

说明

• 介绍PC安装ubuntu16.04+kinetic之后

turtlebot安装

• 安装准备

$ sudo apt-get install python-rosdep python-wstool ros-kinetic-ros
$ sudo apt-get install pyqt5-dev-tools
$ sudo rosdep init
$ rosdep update

• 分别建立三个工作空间rocon，kobuki，turtlebot，下载和编译源码
• 建立rocon目录，下载和编译，rocon都有对应的kinetic版本

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

• 如果https://raw.githubusercontent.com/不能正常访问, 增加代理https://ghproxy.com/

wstool init -j5 src https://ghproxy.com/https://raw.githubusercontent.com/yujinrobot/yujin_tools/kinetic-devel/rosinstalls/kinetic/kobuki.rosinstall

• 如果执行命令后,github.com不能正常访问,打开在~/rocon/src/.rosinstall文件,修改里面所有相关地址增加代理

https://ghproxy.com/https://github.com/xxxxx

• 修改完,再重新执行下载

cd ~/rocon/src/
wstool update

• 建立kobuki目录，下载和编译.

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

• 如果https://raw.githubusercontent.com和github.com不能访问,方法同上处理
• 建立turtlebot目录，下载和编译.

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

• 如果https://raw.githubusercontent.com和github.com不能访问,方法同上处理
  添加工作空间到bashrc文件

echo "source ~/rocon/devel/setup.bash" >> ~/.bashrc
echo "source ~/kobuki/devel/setup.bash" >> ~/.bashrc
echo "source ~/turtlebot/devel/setup.bash" >> ~/.bashrc

启用新环境：

source ~/.bashrc

测试环境生效：

roscd turtlebot 

• 能正常进入到目录就说明成功

生成kobuki别名

$ rosrun kobuki_ftdi create_udev_rules

安装kinect驱动

$ sudo apt-get install ros-kinetic-openni-* ros-kinetic-openni2-* ros-kinetic-freenect-*

测试turtlebot

• 参考Turtlebot入门-测试Turtlebot安装
• Turtlebot入门-测试Kinect
• Turtlebot入门-遥控
• 参考Turtlebot入门教程