源码安装turtlebot底座

最新推荐文章于 2025-09-15 14:01:50 发布

原创最新推荐文章于 2025-09-15 14:01:50 发布 · 455 阅读

0 ·

CC 4.0 BY-SA版权

SLAM 专栏收录该内容

1 篇文章

订阅专栏

本文详细介绍了如何在Ubuntu 16.04上安装和配置ROS Kinetic，包括安装准备、安装rocon、kobuki及turtlebot工作空间的具体步骤，以及解决过程中遇到的问题。

Ubuntu版本 16.04

ROS版本 kinetic

参考来源

https://blog.youkuaiyun.com/HERO_CJN/article/details/76281801
https://www.ncnynl.com/archives/201611/1084.html

https://www.ncnynl.com/archives/201609/792.html

如有问题，请与我联系 yangzhang_y@163.com

1、安装准备

sudo apt-get install python-rosdep python-wstool ros-kinetic-ros
sudo rosdep init
rosdep update

在输入 sudo rosdep init 时，出现
ERROR: default sources list file already exists:
/etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize
考虑在安装ROS时已经输入 sudo rosdep init，没管这个错误

2、在目录turtlebot_ws下，依照顺序安装rocon、kobuki、turtlebot三个工作空间

安装rocon

mkdir -p  ~/turtlebot_ws/rocon
cd ~/turtlebot_ws/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

在catkin_make时出现错误

/bin/sh: 1: pyrcc5: not found

在终端下，输入

pyrcc5

按照终端提示，输入

sudo apt install pyqt5-dev-tools

再次 catkin_make，通过

安装 kobuki

mkdir ~/turtlebot_ws/kobuki
cd ~/turtlebot_ws/kobuki
wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/kobuki.rosinstall
vim kobuki.rosinstall

kobuki.rosinstall 文件内容为：

- git: {local-name: yocs_msgs, version: release/0.6-kinetic, uri: 'https://github.com/yujinrobot/yocs_msgs.git'}
- git: {local-name: yujin_ocs, version: kinetic, uri: 'https://github.com/yujinrobot/yujin_ocs.git'}
- git: {local-name: kobuki_msgs, version: kinetic, uri: 'https://github.com/yujinrobot/kobuki_msgs.git'}
- git: {local-name: kobuki_core, version: kinetic, uri: 'https://github.com/yujinrobot/kobuki_core.git'}
- git: {local-name: kobuki, version: kinetic, uri: 'https://github.com/yujinrobot/kobuki.git'}
- git: {local-name: kobuki_desktop, version: kinetic, uri: 'https://github.com/yujinrobot/kobuki_desktop.git'}

继续输入

wstool init src -j5 kobuki.rosinstall 
source ~/turtlebot_ws/rocon/devel/setup.bash
rosdep install --from-paths src -i -y
catkin_make

安装 turtlebot

mkdir ~/turtlebot_ws/turtlebot
cd ~/turtlebot_ws/turtlebot
wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall
vim turtlebot.rosinstall

turtlebot.rosinstall文件内容：

- git: {local-name: turtlebot_msgs, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_msgs.git'}
- git: {local-name: turtlebot_create, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_create.git'}
- git: {local-name: turtlebot, version: kinetic, uri: 'https://github.com/turtlebot/turtlebot.git'}
- git: {local-name: turtlebot_apps, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_apps.git'}
- git: {local-name: turtlebot_interactions, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_interactions.git'}
- git: {local-name: turtlebot_simulator, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_simulator.git'}
- git: {local-name: turtlebot_create_desktop, version: kinetic, uri: 'https://github.com/turtlebot/turtlebot_create_desktop.git'}

继续输入

wstool init src -j5 turtlebot.rosinstall
source ~/turtlebot_ws/kobuki/devel/setup.bash
rosdep install --from-paths src -i -y
catkin_make

在 rosdep install --from-paths src -i -y 之后，终端会提示安装 ros-kinetic-stdr-robot

输入

vim ~/.bashrc

在最后一行加入

source ~/turtlebot_ws/turtlebot/devel/setup.bash

3、测试Turtlebot安装

连接turtlebot

打开turtlebot开关，会有开机提示音

输入检测命令：

ls /dev/kobuki

会显示有对应的设备/dev/kobuki，如果没有，输入

rosrun kobuki_ftdi create_udev_rules

重拨USB，再次输入检测命令。

运行如下命令：

roslaunch turtlebot_bringup minimal.launch

这时会有连接提示音

通过键盘遥控移动

打开另一个新终端，运行如下命令：

roslaunch turtlebot_teleop keyboard_teleop.launch

输入命令

source ~/.bashrc
roslaunch turtlebot_teleop keyboard_teleop.launch

这时，可通过键盘控制 turtlebot 机器人移动