Turtlebot入门教程-安装Turtlebot(ubuntu16.04+kinetic)
说明
- 介绍PC安装ubuntu16.04+kinetic之后
turtlebot安装
- 安装准备
$ sudo apt-get install python-rosdep python-wstool ros-kinetic-ros
$ sudo apt-get install pyqt5-dev-tools
$ sudo rosdep init
$ rosdep update
- 分别建立三个工作空间rocon，kobuki，turtlebot，下载和编译源码
- 建立rocon目录，下载和编译，rocon都有对应的kinetic版本
$ mkdir ~/rocon
$ cd ~/rocon
$ wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/release/kinetic/rocon.rosinstall
$ source /opt/ros/kinetic/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make
- 建立kobuki目录，下载和编译.
$ mkdir ~/kobuki
$ cd ~/kobuki
$ wstool init -j5 src https://raw.githubusercontent.com/yujinrobot/yujin_tools/kinetic-devel/rosinstalls/kinetic/kobuki.rosinstall
$ source ~/rocon/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make
- 建立turtlebot目录，下载和编译.
$ mkdir ~/turtlebot
$ cd ~/turtlebot
$ wstool init -j5 src https://raw.github.com/yujinrobot/yujin_tools/kinetic-devel/rosinstalls/kinetic/turtlebot.rosinstall
$ source ~/kobuki/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make
生成kobuki别名
$ rosrun kobuki_ftdi create_udev_rules
安装kinect驱动
$ sudo apt-get install ros-kinetic-openni-* ros-kinetic-openni2-* ros-kinetic-freenect-*
测试turtlebot
- 参考Turtlebot入门-测试Turtlebot安装
- Turtlebot入门-测试Kinect
- Turtlebot入门-遥控
- 参考Turtlebot入门教程