ROS 环境下 安装 turtlebot3 功能包及其仿真包 并测试 —— 全流程（报错及解决）

下载 turtlebot3 功能包

turtlebot 太老了可能，仿真只有indigo版本 ，直接用 3吧

ros的turtlebot wiki
turtlebot官网教程

开始安装
turtlebot3 git网址

git上下载指定版本

git clone -b 版本名 总网址

git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git

然后就等着下吧

下载完编译

报这个错误

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):
  Could not find a package configuration file provided by "turtlebot3_msgs"
  with any of the following names:

    turtlebot3_msgsConfig.cmake
    turtlebot3_msgs-config.cmake

  Add the installation prefix of "turtlebot3_msgs" to CMAKE_PREFIX_PATH or
  set "turtlebot3_msgs_DIR" to a directory containing one of the above files.
  If "turtlebot3_msgs" provides a separate development package or SDK, be
  sure it has been installed.
Call Stack (most recent call first):
  turtlebot3/turtlebot3_bringup/CMakeLists.txt:13 (find_package)


-- Could not find the required component 'turtlebot3_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "turtlebot3_msgs"
  with any of the following names:

    turtlebot3_msgsConfig.cmake
    turtlebot3_msgs-config.cmake

  Add the installation prefix of "turtlebot3_msgs" to CMAKE_PREFIX_PATH or
  set "turtlebot3_msgs_DIR" to a directory containing one of the above files.
  If "turtlebot3_msgs" provides a separate development package or SDK, be
  sure it has been installed.
Call Stack (most recent call first):
  turtlebot3/turtlebot3_bringup/CMakeLists.txt:13 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/jone/tutorial_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/jone/tutorial_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

感觉是少 turtlebot3_msgs 功能包

查看的确

turtlebot3_bringup 这个功能包 编译需要 turtlebot3_msgs

下载 turtlebot3_msgs 功能包

turtlebot3_msgs git网址

git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs

再编译 就成功了 ！

因为要在仿真里做东西 所以继续下载 turtlebot3_simulations 里面有gazebo的内容

继续下载 turtlebot3_simulations

git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations

再编译 也成功了

至此 turtlebot3 仿真 安装 成功了

试运行 一个 gazebo 仿真

 roslaunch turtlebot3_gazebo turtlebot3_world.launch

报错

不用担心
打开 turtlebot3_world.launch 这个文件
看到第一行

就是 TURTLEBOT3_MODEL 这个环境变量 没有被 指定 。 有这三个选择 burger, waffle, waffle_pi
一种解决办法就是 启动 roslaunch 前
在终端 定义 TURTLEBOT3_MODEL 变量 ，

export TURTLEBOT3_MODEL=burger

加入用 burger 的话

第二种方法：
但是这样不是在启动的时候很麻烦 ， 假如固定用一个的话，不如直接在launch文件里改
这样改就行 就是给 model 赋值 配置 robot_description
注释掉第一行 加入未注释内容

 <!-- <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/> --> 
  <arg name="model" default="burger"/>

在运行

 roslaunch turtlebot3_gazebo turtlebot3_world.launch

成功启动

查看 topic list
有节点在订阅 cmd_vel

用个节点发布 速度信息 就可以走了 应该