Turtlebot3-burger入门教程#noetic版#-树莓派4安装

Turtlebot3-burger入门教程#noetic版#-树莓派4安装

说明：

• 本教程介绍如何在在树莓派4上安装对应的系统和软件
• 测试环境： 树莓派4B 2G + Ubuntu MATE 20.04 + ROS Noetic Ninjemys

相关设备

• TB3套件：采购地址

前提说明

• 对于在创客智造上购买的Noetic版系统的tb3是已经配置好系统，不需要重复安装

系统安装

• 树莓派入门教程-系统-树莓派4安装ubuntu mate 20.04 LTS

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ROS Noetic Ninjemys

• [TurtleBot] apt 安装

# 设置源
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
# 设置keys
$ sudo apt install curl # if you haven't already installed curl
$ curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
# 安装noetic
$ sudo apt update
$ sudo apt install ros-noetic-desktop-full
# 配置环境
$ echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
# 安装相关依赖包
$ sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
# 初始化rosdep
$ sudo rosdep init
$ rosdep update

安装TurtleBot3及相关依赖包

• [TurtleBot] 安装相关依赖包

$ sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy \
  ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc \
  ros-noetic-rgbd-launch ros-noetic-rosserial-arduino \
  ros-noetic-rosserial-python ros-noetic-rosserial-client \
  ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server \
  ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro \
  ros-noetic-compressed-image-transport ros-noetic-rqt* ros-noetic-rviz \
  ros-noetic-gmapping ros-noetic-navigation ros-noetic-interactive-markers \
  ros-noetic-slam-karto ros-noetic-hector-mapping 

• [TurtleBot] 安装TurtleBot3包

$ mkdir -p ~/turtlebot3_ws/src
$ cd ~/turtlebot3_ws/src/
$ git clone -b noetic-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
$ git clone -b noetic-devel https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
$ cd ~/turtlebot3_ws && catkin_make
$ echo "source ~/turtlebot3_ws/devel/setup.bash" >> ~/.bashrc

• [TurtleBot] 安装LDS-02雷达包

$ sudo apt update
$ sudo apt install libudev-dev
$ cd ~/turtlebot3_ws/src
$ git clone -b develop https://github.com/ROBOTIS-GIT/ld08_driver.git
$ cd ~/catkin_ws/src/turtlebot3 && git pull
$ cd ~/turtlebot3_ws && catkin_make

• USB设置(以下允许将USB端口用于没有root权限的OpenCR板)

$ rosrun turtlebot3_bringup create_udev_rules

• [TurtleBot] 配置模型的环境变量

$ echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
$ echo "export LDS_MODEL=LDS-02" >> ~/.bashrc #根据当时使用的雷达来设置
$ source ~/.bashrc