ROS kinetic +ubuntu16.04+turtlebot 源码安装教程

 用到ros框架，拿turtlebot2进行练手，以免后续遗漏忘记应用方法特此记录－2017.06.15 乐

rocon安装

１、开启终端键入命令：

mkdir ~/rocon
cd ~/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

kobuki安装

１、开启终端键入命令：

mkdir ~/kobuki
cd ~/kobuki
git clone https://github.com/yujinrobot/yujin_tools.git

修改
~/home/chunle/kobuki/yujin_tools/rosinstalls/indigo/kobuki.rosinstall文件如下：

##############################################################################
#
# If no debs, overlay on top of the rocon and ecl rosinstallers.
#
##############################################################################
# Kobuki / Yujin stacks

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

- 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'}

#- git: {local-name: capabilities, version: master, uri: 'https://github.com/osrf/capabilities.git'}
#- git: {local-name: std_capabilities, version: master, uri: 'https://github.com/osrf/std_capabilities.git'}

终端键入命令（kobuki.rosinstall 路径按照所放位置键入）：

$: wstool init src -j5  ~/home/chunle/kobuki/src/kinetic/kobuki.rosinstall
$:source ~/rocon/devel/setup.bash
$:rosdep install --from-paths src -i -y
$: catkin_make

turtlebot安装

mkdir ~/turtlebot
cd ~/turtlebot

进入上一步安装git上拷贝下来的源码，修改
~/home/chunle/kobuki/yujin_tools/rosinstalls/indigo/turtlebot.rosinstall文件如下：

##############################################################################
#
# If no debs, overlay on top of the kobuki, rocon and ecl rosinstallers.
#
##############################################################################

#- 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: indigo, 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: indigo, uri: 'https://github.com/turtlebot/turtlebot_create_desktop.git'}


- 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'}

终端键入命令(turtlebot.rosinstall 具体路径根据修改后存放位置修改)：

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

打完收工！
下面配置下turblebot进行下测试。

本地测试

1、turtlebot 文件夹下concert_minimal.launch 下的
<argv name="serialport" default="/dev/ttyUSB0" doc = "used by create to configure the port it is connected on [/deb/ttyUSB0 , /dev/ttys0]"/>
2、运行
键盘方向键是对线速度和角速度的控制，空格是暂停机器人控制。

source turtlebot/devel/setup.bash

roslaunch turtlebot_bringup concert_minimal.launch 
roslaunch kobuki_keyop keyop.launch (或者   roslaunch turtlebot_teleop keyboard_teleop.launch) 

rviz显示（参考网址）

source ~/.bashrc
source turtlebot/devel/setup.bash
roslaunch turtlebot_rviz_launchers view_robot.launch  --screen(或者　roslaunch kobuki_description view_model.launch )

远程控制测试：

1、进行网络链
ifconfig
获取IP地址
inet 地址:1xx.xxx.31.23 广播:1xx.xxx.31.255 掩码:255.255.255.0

安装ssh服务器：

sudo apt-get install openssh-server

ssh turtle@<TURTLEBOTP_IP>