Turtlebot3-ARM入门教程-软件安装

说明

• 本教程介绍如何在树莓派以及PC上安装相应的Turtlebot3-ARM软件

• 安装环境：Ubuntu 16.04 + ROS Kinetic Kame

操作步骤

• 安装前需要根据下面的链接在树莓派以及PC上安装Turtlebot3相关的驱动包,同时设置好主从机

  • Turtlebot3-waffle_pi入门教程-树莓派3安装

  • Turtlebot3-waffle_pi入门教程-PC安装

  • Turtlebot3-waffle_pi入门教程-安装树莓派v2摄像头

  • Turtlebot3-waffle_pi入门教程-网络设置

• [TurtleBot3 SBC && Remote PC] 安装OpenMANIPULATOR的驱动包

$ sudo apt-get install ros-kinetic-ros-controllers ros-kinetic-gazebo* ros-kinetic-moveit* ros-kinetic-industrial-core ros-kinetic-ar-track-alvar ros-kinetic-ar-track-alvar-msgs ros-kinetic-image-proc

$ mkdir -p ~/openManipulator_ws/src/ && cd ~/openManipulator_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench.git
$ git clone https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_simulations.git
$ git clone https://github.com/ROBOTIS-GIT/robotis_manipulator.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_applications.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_controls.git
$ git clone https://github.com/ROBOTIS-GIT/open_manipulator_perceptions.git
$ cd ~/openManipulator_ws && catkin_make
$ echo "source ~/openManipulator_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

• [Remote PC] 安装Turtlebot3-ARM的驱动包

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_manipulation_simulations.git
$ cd ~/catkin_ws && catkin_make