TurtleBot3笔记

引言

不是按照学习的时间顺序总结。

0、初始化TurtleBot3

[pc]

roscore

[turtlebot]

roslaunch turtlebot3_bringup turtlebot3_robot.launch

工作空间里，source一下环境变量。

source devel/setup.bash 

1、远程终端

[turtleBot3]

sudo apt-get install ssh
sudo raspi-config
#选择 Interfacing Options
#导航并选择SSH
#选择Yes
#选择OK
#选择Finish

[PC]

ssh couny(usrName)@IP_OF_TurtleBot3

输入密码就OK.

2、PC 端安装TurtleBot3

安装turtlebot3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

安装turtlebot3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 ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

3、Turtlebot3-waffle_pi网络设置

时间同步：

#主从分别安装chrony
sudo apt-get install chrony
#主从分别安装ntpdate 
sudo apt-get install ntpdate
#主从分别同步时间
sudo ntpdate ntp.ubuntu.com
# 检测时间是否同步
date

ROS需要IP地址在turtlebot和远程PC之间进行通信，要求在同一个wifi局域网下。分别在turtlebot和PC，执行如下命令获得对应的IP地址：

ifconfig
#修改.bashrc
gedit ~/.bashrc

TURTLEBOT配置如下：

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

PC配置如下：

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

ROS_MASTER <roscore请大师！> PC端。
让环境生效：

source ~/.bashrc

4、Turtlebot3-waffle_pi-雷达安装

[Remote PC]安装驱动

sudo apt-get install ros-kinetic-hls-lfcd-lds-driver

[TurtelBot]设置权限

sudo chmod a+rw /dev/ttyUSB0

[Remote PC]增加view_laser.launch，用于显示激光雷达

roscd hls_lfcd_lds_driver
cd launch
sudo vim view_laser.launch

内容如下：

<launch>
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find hls_lfcd_lds_driver)/rviz/hlds_laser.rviz" />
</launch>

测试：
[TurtelBot] 启动雷达

roslaunch hls_lfcd_lds_driver hlds_laser.launch

[Remote PC] 启动rviz

roslaunch hls_lfcd_lds_driver view_laser.launch

串口权限问题
1、检测串口

  ls -l /dev |grep ttyUSB

2、赋予权限

sudo chmod 666 /dev/ttyUSB0

3、在编译的ROS包中运行launch文件

roslaunch rplidar_ros view_rplidar.launch

5、Turtlebot3-waffle_pi安装树莓派v2摄像头

[TurtleBot] 在树莓派上进行摄像头设置：

sudo raspi-config  

进入图形界面Tab、空格、enter键选择。

• 选择 3 Interfacing Options
• 选择 P1 Camera
• Enable camera interface

[TurtleBot] 设置完之后测试以下是否能正常使用，输入以下以下命令，正常情况下树莓派系统的桌面上会生成一张摄像头捕捉到的图像。

raspistill -v -o test.jpg

[TurtleBot] 安装ros驱动包

cd ~/catkin_ws/src
git clone https://github.com/UbiquityRobotics/raspicam_node.git
sudo apt-get install ros-kinetic-compressed-image-transport ros-kinetic-camera-info-manager
gedit /etc/ros/rosdep/sources.list.d/30-ubiquity.list

添加下面这段话到 30-ubiquity.list 后保存：

yaml https://raw.githubusercontent.com/UbiquityRobotics/rosdep/master/raspberry-pi.yaml

继续

rosdep update
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
cd ~/catkin_ws && catkin_make

[TurtleBot] 运行raspicam节点

roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch

或者执行下面这条命令进行测试

roslaunch raspicam_node camerav2_1280x960.launch

[Remote PC] 执行以下命令

rqt_image_view

桌面出现显示摄像头即时内容的gui界面时，说明已成功安装.

6、Turtlebot3-Cartographer-turtlebot 安装

（每次安装都得重来，按照步骤来就是了。网速没问题就没问题。）
修改ceres-solver地址：
github地址：https://github.com/ceres-solver/ceres-solver.git 注意：如果在树莓派下安装需要使用至少16G卡，并扩展2G的swap空间.

库安装
推荐使用rosdep.但更快安装推荐使用Ninja.
安装依赖：

sudo apt-get install -y google-mock libboost-all-dev  libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev  libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx  ros-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev

安装步骤：

#Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build

#Create a new workspace in 'cartographer_ws'.
mkdir cartographer_ws
cd cartographer_ws
wstool init src

Merge the cartographer_turtlebot.rosinstall file and fetch code for dependencies.
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall

gedit src/.rosinstall
#更改ceres-solver中地址改为下面的地址：
#>>uri: https://github.com/ceres-solver/ceres-solver.git
wstool update -t src

#Install deb dependencies.
rosdep update

#install proto3
src/cartographer/scripts/install_proto3.sh
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

#Build and install.
catkin_make_isolated --install --use-ninja -j1
source install_isolated/setup.bash

#添加到.bashrc
echo "source ~/cartographer_ws/install_isolated/setup.bash" >> ~/.bashrc

7、Turtlebot3-waffle_pi建图

[Remote PC] 打开终端，然后运行SLAM启动文件和rviz

    #[1]在turtlebot_ws/下进行source工作空间
    source devel/setup.bash    
    
    #[2]在cartographer_ws/下进行source工作空间然后运行。
    #<cartographer建图>
    echo "source ~/cartographer_ws/install_isolated/setup.bash" >> ~/.bashrc 
        # <cartographer建图>
    source install_isolated/setup.bash  
    export TURTLEBOT3_MODEL=waffle_pi
    
    #最终的roslaunch是在cartographer_ws/下进行的。
    roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer
    #SLAM: gmapping, cartographer, hector, karto, frontier_exploration, RTAB-Map 

[Remote PC] 启动键盘操作

source devel/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

[Remote PC] 打开终端，然后运行地图保存节点

rosrun map_server map_saver -f ~/map
#map.pgm和map.yaml 在 ~/ 目录里创建

总结

持续更新。