ROS Turtlebot2驱动安装

Turtlebot驱动是运行turtlebot机器人的必备文件，很多同学想要更改一些参数却找不到文件包，那就是安装的方法或者对包的理解不够。

二进制安装

sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-kobuki-ftdi ros-kinetic-ar-track-alvar-msgs ros-kinetic-turtlebot-simulator
#Kobuki 测试
$ rosrun kobuki_ftdi create_udev_rules
$ roslaunch kobuki_node minimal.launch
$ roslaunch kobuki_keyop keyop.launch

其 中 ros-kinetic-rocon-remocon 以 及 ros-kinetic-rocon-qt-library、ros-kinetic-turtlebot-simulator 一般无法二进制安装，故我们采用源码安装。

安装编译所需依赖环境
sudo apt-get install pyqt4-dev-tools pyqt5-dev-tools
下载并编译源码
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/robotics-in-concert/rocon_qt_gui.git
git clone https://github.com/turtlebot/turtlebot_simulator.git
cd ..
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/catkin_ws/devel/setup.bash

Turtlebot2源码安装

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