turtlebot3 软件安装

最新推荐文章于 2024-05-30 11:02:36 发布

daichuihua1

最新推荐文章于 2024-05-30 11:02:36 发布

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本文档详细介绍了如何在Ubuntu上安装ROS Kinetic，并为Turtlebot3安装依赖包、程序源码，设置环境变量以及进行网络配置。步骤包括安装各种ROS包，克隆并编译Turtlebot3相关源码，以及安装仿真包。最后，文章还提到了为Turtlebot3设置模型和网络环境的注意事项。

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安装ROS系统,然后。。。。

1,安装依赖包

sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers

2，安装程序源码

cd ~/catkin_ws/src/

git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

cd ~/catkin_ws && catkin_make

环境设置：

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

在./bashrc文件中添加 turtlebot3的模型设置

gedit ~/.bashrc

export TURTLEBOT3_MODEL=burger

设置网络

TURTLEBOT:

ROS_MASTER_URI = http://IP_OF_PC:11311
ROS_HOSTNAME   = IP_OF_TURTLEBOT

PC:

ROS_MASTER_URI = http://IP_OF_PC:11311
ROS_HOSTNAME   = IP_OF_PC

让环境生效：

source ~/.bashrc

安装仿真包;

cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/catkin_ws && catkin_make