Turtlebot3-ROS2入门教程-SBC安装

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：ubuntu mate Ubuntu 16.04.2 LTS

安装步骤：

• 安装raspbian系统或ubuntu mate系统

  • raspbian系统-Turtlebot3-ROS2整合版本镜像下载链接

  • 官方raspbian系统原始镜像源下载链接

  • 官方ubuntu mate系统原始镜像源下载链接

  • 如何用Win32 Disk Imager烧录镜像到SD卡

• 安装Turtlebot3-ROS2的相关应用包

• 安装 microRTPS(Agent & Client)

$ sudo apt update && sudo apt install build-essential cmake git
$ cd && git clone https://github.com/eProsima/Fast-RTPS
$ mkdir Fast-RTPS/build && cd Fast-RTPS/build
$ cmake -DTHIRDPARTY=ON ..
$ sudo make install

$ cd && git clone https://github.com/eProsima/micro-RTPS-agent.git
$ mkdir micro-RTPS-agent/build && cd micro-RTPS-agent/build
$ cmake -DTHIRDPARTY=ON -DCONFIG_UDP_TRANSPORT_MTU=4096 -DCONFIG_SERIAL_TRANSPORT_MTU=4096 ..
$ sudo make install
$ mkdir ~/turtlebot3
$ cp ./DEFAULT_FASTRTPS_PROFILES.xml ~/turtlebot3
$ sudo ldconfig /usr/local/lib/

$ cd && git clone https://github.com/eProsima/micro-RTPS-client.git
$ cd micro-RTPS-client
$ vim client.config #修改CONFIG_UDP_TRANSPORT_MTU参数的值为4096

CONFIG_UDP_TRANSPORT_MTU=4096

$ mkdir build && cd build
$ cmake -DTHIRDPARTY=ON ..
$ sudo make install

• 安装OpenCR依赖

$ sudo apt update && sudo apt install wget
$ cd /etc/udev/rules.d/
$ sudo wget https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/99-opencr-cdc.rules
$ sudo udevadm control --reload-rules$ sudo udevadm trigger

• 安装LDS雷达依赖

$ sudo apt update && sudo apt install wget
$ cd /etc/udev/rules.d/
$ sudo wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/master/turtlebot3_bringup/99-turtlebot3-cdc.rules
$ sudo udevadm control --reload-rules
$ sudo udevadm trigger

• 安装boost library

$ sudo apt install libboost-all-dev

• 安装 ntpdate工具

$ sudo apt install ntpdate

• 安装 LIDAR Client

$ cd ~/micro-RTPS-client/examples
$ wget https://github.com/ROBOTIS-GIT/turtlebot3/raw/ros2/turtlebot3_lidar/turtlebot3_lidar.tar.xz
$ tar -xf ./turtlebot3_lidar.tar.xz
$ cd ~/micro-RTPS-client
$ vim CMakeLists.txt #添加下面内容

if(EPROSIMA_BUILD_EXAMPLES)
    add_subdirectory(examples/turtlebot3_lidar)
endif()

$ cd ~/micro-RTPS-client/build
$ cmake -DTHIRDPARTY=ON -DEPROSIMA_BUILD_EXAMPLES=ON ..
$ sudo make install
$ cp ./examples/turtlebot3_lidar/turtlebot3_lidar ~/turtlebot3