Turtlebot学习指导第二篇＿安装Turtlebot软件包,配置主从机网络

原文地址 http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation

首先安装ros-indigo-desktop-full installation 包

1,安装依赖

 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

2,turtlebot软件包源安装(同样的在主机PC上也执行这些)

准备

> sudo apt-get install python-rosdep python-wstool ros-indigo-ros
> sudo rosdep init
> rosdep update

正式安装

可以在home目录下先建立一个文件夹在进入这个文件夹执行以下操作

> mkdir ~/rocon
> cd ~/rocon
> wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/indigo/rocon.rosinstall
> source /opt/ros/indigo/setup.bash
> rosdep install --from-paths src -i -y
> catkin_make

> mkdir ~/kobuki
> cd ~/kobuki
> wstool init src -j5 https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/kobuki.rosinstall
> source ~/rocon/devel/setup.bash
> rosdep install --from-paths src -i -y
> catkin_make

> mkdir ~/turtlebot
> cd ~/turtlebot
> wstool init src -j5 https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall
> source ~/kobuki/devel/setup.bash
> rosdep install --from-paths src -i -y
> catkin_make

如果你已经新建了文件夹 source的时候记得更改目录 否则会出错

3,把setup.bash   source到终端启动文件里

# For a deb installation
> echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
# For a source installation
> echo "source ~/turtlebot/devel/setup.bash" >> ~/.bashrc

配置turtlebot与主机PC的通信

1,使用ifconfig查看自己的ip

2,安装ssh在turtlebot还有pc上

> sudo apt-get install openssh-server

像下面这样从pc远程进入turtlebot的电脑

> ssh turtle@<TURTLEBOTP_IP>

3,开始配置turtlebot的网络

> echo export ROS_MASTER_URI=http://localhost:11311 >> ~/.bashrc
> echo export ROS_HOSTNAME=IP_OF_TURTLEBOT >> ~/.bashrc

> echo export ROS_MASTER_URI=http://IP_OF_TURTLEBOT:11311 >> ~/turtlebot/devel/setup.sh
> echo export ROS_HOSTNAME=IP_OF_TURTLEBOT >> ~/turtlebot/devel/setup.sh

配置完成 重启

IP_OF_TURTLEBOT  是turtlebot的ip地址

配置电脑的网络

> echo export ROS_MASTER_URI=http://IP_OF_TURTLEBOT:11311 >> ~/.bashrc
> echo export ROS_HOSTNAME=IP_OF_PC >> ~/.bashrc

4,测试是否配置成功

> rostopic list

没有出现东西就是错的 (当然要 首先打开roscore)