turtlebot3 软件安装

 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