Turtlebot3-ROS2入门教程-SBC安装

ROS2/二代机器人系统 少儿编程 620浏览 0评论
Turtlebot3ROS2教程

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

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