主旨:算法实现所使用的硬件平台介绍
本人使用的是turtlebot3 burger的版本
搭配我文章https://blog.csdn.net/iliou/article/details/123942011?spm=1001.2014.3001.5501
配置好的树莓派4B,这就是全部的硬件配置。
1、车载系统配置详见turtlebot3官网
车载系统配置参考链接:https://emanual.robotis.com/docs/en/platform/turtlebot3/sbc_setup/#sbc-setup
车载系统文件系统如下
2、master系统在个人PC上的配置
参考链接:https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/#pc-setup
首先安装gazebo11
sudo apt-get install ros-foxy-gazebo-*
3、安装ros2使用的制图
sudo apt install ros-galactic-cartographer
sudo apt install ros-galactic-cartographer-ros
4、安装ros2使用的导航
sudo apt install ros-galactic-navigation2
sudo apt install ros-galactic-nav2-bringup
5、创建工作空间
mkdir -p ~/turtlebot3_ws/src
cd ~/turtlebot3_ws/src/
6、下载三个文件
git clone -b galactic-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
git clone -b galactic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b galactic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
7、编译工程
cd ~/turtlebot3_ws
colcon build --symlink-install
8、环境配置
echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
source ~/.bashrc
echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
source ~/.bashrc
接下来测试官方使用的建图导航库文件
完结撒花~~~