软件准备-树莓派3B+

安装Ubuntu mate for raspberry pi 16.04

安装Remote PC的系统时还是挺顺利的，到这一步就费了挺多时间，主要是找不到合适版本的系统镜像文件，Ubuntu mate官方现在提供树莓派的版本只有18.04，找了好久才找到能用的Ubuntu mate 16.04的镜像文件,这里给出链接：

https://pan.baidu.com/s/1EX_nuQReV9IJuQfvkA9XWA

密码：osek

一路next下去就可以了。

安装完Ubuntu系统后第一步同样是更换软件源，但这里在软件和更新中没找到自动换源，所以只能手动修改软件源配置文件/etc/apt/sources.list，备份后将其更改为：

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-security main restricted universe multiverse

# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ xenial-proposed main restricted universe multiverse

下载turtlebot3的相关包

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

依赖包：
$ sudo apt-get install ros-kinetic-rosserial-python ros-kinetic-tf·

编译

$ source /opt/ros/kinetic/setup.bash
$ cd ~/catkin_ws && catkin_make -j1
$ echo "source ~/catkin_ws/devel/setup.bash" >> .bashrc

USB设置(以下允许将USB端口用于没有root权限的OpenCR板)
$ rosrun turtlebot3_bringup create_udev_rules

至此树莓派的软件配置完成