[ROS]Turtlebot3 autorace仿真配置

参考

环境

• ubuntu 18.04.5
• ROS melodic
• 终端解释器：zsh

配置操作

1. PC setup:
   Quick Start Guide

• Install Dependent ROS 1 Packages(安装必要的ROS支持包)

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

注意如果出现zsh:no matches found:请参考博文解决zsh:no matches found: xxxxxx

• Install TurtleBot3 Packages（以从源码安装为例）

# remove 原来可能安装过的这三个包，避免冲突，如果没有安装过会有提示的
sudo apt-get remove ros-melodic-dynamixel-sdk
sudo apt-get remove ros-melodic-turtlebot3-msgs
sudo apt-get remove ros-melodic-turtlebot3
mkdir -p ~/catkin_ws/src # 可替换为自己的路径，注意下面的路径要同步根据自己情况变化
cd ~/catkin_ws/src/
git clone -b melodic-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
cd ~/catkin_ws && catkin_make
echo "source ~/catkin_ws/devel/setup.zsh" >> ~/.zshrc # 如果用bash解释器，就替换zsh为bash即可 echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

# Set TurtleBot3 Model Name
echo "export TURTLEBOT3_MODEL=burger" >> ~/.zshrc # In case of TurtleBot3 Burger 

2. Simulation setup:
   Gazebo Simulation

• Install Simulation Package(安装仿真支持环境)

cd ~/catkin_ws/src/ #注意路径同上面，根据自己情况同步变化
git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/catkin_ws && catkin_make

3. Install AutoRace related package:
   TurtleBot3 AutoRace 2020
   TurtleBot3 AutoRace 2019
   

cd ~/catkin_ws/src/
git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_autorace.git
cd ~/catkin_ws && catkin_make

# Install Additional Dependent Packages
sudo apt-get install ros-melodic-image-transport ros-melodic-cv-bridge ros-melodic-vision-opencv python-opencv libopencv-dev ros-melodic-image-proc

任务运行操作

# notice : make sure the content of "~/catkin_ws/devel/setup.zsh" had writen in ~/.zshrc and run "echo $ROS_PACKAGE_PATH", autorace folder is up in the beginning
roslaunch turtlebot3_gazebo turtlebot3_autorace.launch 
roslaunch turtlebot3_gazebo turtlebot3_autorace_mission.launch
roslaunch turtlebot3_autorace_camera turtlebot3_autorace_intrinsic_camera_calibration.launch
roslaunch turtlebot3_autorace_core turtlebot3_autorace_core.launch
rostopic pub -1 /core/decided_mode std_msgs/UInt8 "data: 2"
rqt # to see camera image