Ubuntu 14.04 系统安装 ROS Indigo， SlamGmapping， Sick 20

安装好 Ubuntu 系统 Desktop 版

http://releases.ubuntu.com/14.04/ubuntu-14.04.5-desktop-amd64.iso

将软件升级至最新

sudo apt dist-upgrade

升级软件列表

sudo apt-get update

安装 vim

sudo apt-get install vim -y

安装 ROS 系统 http://wiki.ros.org/indigo/Installation/Ubuntu

sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’

sudo apt-key adv –keyserver hkp://ha.pool.sks-keyservers.net:80 –recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

sudo apt-get update

sudo apt-get install ros-indigo-desktop-full

sudo rosdep init

rosdep update

echo “source /opt/ros/indigo/setup.bash” >> ~/.bashrc

source ~/.bashrc

sudo apt-get install python-rosinstall

安装 SLAM_Gmapping

sudo apt-get install ros-indigo-sparse-bundle-adjustment

安装 依赖g++

sudo apt-get install g++

安装tf

sudo apt-get install ros-indigo-tf

安装 libeigen3

sudo apt-get install libeigen3-dev

install map_server

sudo apt-get install ros-indigo-map-server

安装 karto

git clone https://github.com/Summer-Qing/SLAM_Gmapping.git

安装 turtlebot

sudo apt-get update

sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs

安装 sick 20m 激光

sudo apt-get install ros-indigo-lms1xx

雷达的设置 参考博文： https://blog.youkuaiyun.com/Fourier_Legend/article/details/81319536