ROS与web入门教程-安装ROS与仿真

ROS与web入门教程-安装ROS与仿真

说明：

• 介绍如何安装ros
• 介绍如何安装turtlesim仿真和turtlebot3仿真
• ubuntu18.04 + melodic

步骤：

• 参考ros安装教程
• 根据上述安装，可能会出现，因为我们之前先安装了LNMP导致安装mysqlclient会有问题

unable to open '/usr/include/mysql/plugin.h.dpkg-new': No such file or directory

• 重新定义下mysql目录，可参考

cd /usr/include
sudo rm -rf  mysql
sudo ln -s /usr/local/mysql/include mysql

• 再通过

sudo apt --fix-broken install

• 即可继续安装

安装turtlesim仿真

• 安装仿真, 采用ros-melodic-desktop-full ，已经安装上。

turtlebot3仿真

• 安装依赖

• 安装turtlebot3
• 安装依赖

sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers

• 安装源码

$ mkdir -p ~/catkin_ws/src/ && 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

• 安装turtlebot3_simulations
• 安装依赖

sudo apt-get install -y ros-melodic-navigation ros-melodic-teb-local-planner* ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-gazebo-ros-control ros-melodic-ackermann-msgs ros-melodic-serial qt4-default ros-melodic-effort-controllers ros-melodic-joint-state-controller ros-melodic-tf2-ros ros-melodic-tf

• 安装源码

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ cd ~/catkin_ws && catkin_make

• 增加工作空间到bashrc

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

• 增加指定turtlebot3机型：

echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc

安装rosbridge

• 安装rosbridge

sudo apt install ros-melodic-rosbridge-suite

• 安装web-video-server，替代mjpeg-server

sudo apt install ros-melodic-web-video-server

测试：

• 测试turtlesim_node
• 二个终端分别执行

$ roscore    
$ rosrun turtlesim turtlesim_node

• 效果如下：
  

• 测试turtlebot3

roscd turtlebot3_bringup 

• 能正确进入目录即可
• 测试gazebo ， Turtlebot3与仿真-加载Gazebo环境

roslaunch turtlebot3_gazebo turtlebot3_world.launch

• 顺利的话，能正常打开gazebo和world地图
• 效果如下：