【Turtlrbot3-burger】从零开始配置Turtlrbot3小车1

一、安装ubuntu系统镜像

1.前期准备

在软件包中找到烧录软件rufus-3.9p.exe和Ubuntu Mate SD.img文件
注：软件包链接在评论区

2.烧录镜像

将内SD卡在电脑上读取，打开rufus-3.9p.exe软件，执行下面操做，进行镜像烧录

二、安装ros环境

1.进行基础设置

将内存卡插入树莓派读取，执行语言/用户名/网络相关配置操做

**注：**执行完后树莓派会进行一次自重启，重启之后搜不到可用无线网，此时将树莓派关机手动重启。

2.安装源

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

或来自中国的源：

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

3.设置key

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

4.更新

sudo apt-get update

5.Desktop-Full安装: (Recommended) : ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation and 2D/3D perception

sudo apt-get install ros-kinetic-desktop-full

6.环境设置

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

7.安装rosinstall

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

三、安装turtlebot3相关包

1.下载turtlebot3代码包

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

**注1**：新安装系统，需先执行

sudo apt install git

**注2：**下载速度慢，可以换手机热点下载或者使用U盘拷贝然后编译

2.编译

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

3.添加模型声明

echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc

四、网络配置

1.安装ssh

sudo apt install ssh

2.启用root

sudo passwd root          # 提示输入两次密码
sudo passwd --unlock root            #启用root

如果提示“passwd: password expiry information changed.”，

​ 将

PermitRootLogin prohibit-password

改为

PermitRootLogin yes

3.开启ssh

sudo raspi-config

配置界面中选择3 Interfacing Options，回车确认，继续选择P2 SSH，选中Yes确认

4.设置SSH自启

apt-get install chkconfig  安装chkconfig

service ssh start 

chkconfig |grep ssh         #查看自启状态 

chkconfig ssh on            #设置自启

**注：**chkconfig命令安装报错，可以将软件包中的安装包拷贝至树莓派，手动安装

五、主从机连接

1.查看PC端和turtlebot3网络ip

ifconfig

假设 PC端ip为：192.168.30.100 turtlebot3 IP为：192.168.30.101

2.PC端配置

执行

gedit ~/.bashrc

在文档末尾添加

export ROS_MASTER_URI=http://192.168.30.100:11311  #可根据自己实际ip进行修改
export ROS_HOSTNAME=192.168.30.100

编译

source ~/.bashrc

3.turtlebot3配置

执行

gedit ~/.bashrc

在文档末尾添加

export ROS_MASTER_URI=http://192.168.30.100:11311  #可根据自己实际ip进行修改
export ROS_HOSTNAME=192.168.30.101

编译：

source ~/.bashrc

4.主从机连接测试

PC端执行

ssh name@192.168.30.101     #name为turtlebot3用户名

当上述命令可以正常运行，如上图所示，即网络配置成功。

**注1：**使用虚拟机时候要将网络连接方式选择“**桥接模式**”，如图所示

**注2：**PC端口ssh报如下错误：

@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
@    WARNING: REMOTE HOST IDENTIFICATION HAS CHANGED!     @
@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@
IT IS POSSIBLE THAT SOMEONE IS DOING SOMETHING NASTY!
Someone could be eavesdropping on you right now (man-in-the-middle attack)!
It is also possible that a host key has just been changed.
The fingerprint for the ECDSA key sent by the remote host is
SHA256:2ZRMvCNAyNzrHHoEZPkOQgeccmxbXG9Sbe7i+YqwRNI.
Please contact your system administrator.
Add correct host key in /root/.ssh/known_hosts to get rid of this message.
Offending ECDSA key in /root/.ssh/known_hosts:1
  remove with:
  ssh-keygen -f "/root/.ssh/known_hosts" -R 192.168.XX.XX
ECDSA host key for 192.168.1.253 has changed and you have requested strict checking.
Host key verification failed.

1. *# hostname为你主机的用户名，-R后面接你要远程的ip地址*
2. ssh-keygen -f "/home/hostname/.ssh/known_hosts" -R 192.168.XX.XX

参考链接：

[1]https://www.ncnynl.com/archives/201707/1814.html

[2]https://blog.csdn.net/oHanYi1/article/details/90896900?spm=1001.2014.3001.5506