【ROS2大白话】二、turtlebot3安装

系列文章目录

【ROS2大白话】一、ROS2 humble及cartorgrapher安装
【ROS2大白话】二、turtlebot3安装
【ROS2大白话】三、给turtlebot3安装realsense深度相机
【ROS2大白话】四、ROS2非常简单的传参方式

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没有真实小车的情况下，利用gazebo的仿真，操作小乌龟来学习ros2。废话不多说，直接上命令。

一、安装

Install Gazebo

sudo apt install ros-humble-gazebo-*

Install Cartographer

假如前一节未安装源码版本的cartographer，那就安装apt版本的。

sudo apt install ros-humble-cartographer
sudo apt install ros-humble-cartographer-ros

Install Navigation2

sudo apt install ros-humble-navigation2
sudo apt install ros-humble-nav2-bringup

Install TurBot3 Packages

source ~/.bashrc
sudo apt install ros-humble-dynamixel-sdk
sudo apt install ros-humble-turtlebot3-msgs
sudo apt install ros-humble-turtlebot3
sudo apt install ros-humble-turtlebot3-gazebo

Install Teleop

sudo apt-get install ros-humble-teleop-twist-keyboard

二、运行

启动机器人gazebo

打开一个终端terminal，输入

ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py

启动cartographer启动节点

打开一个终端terminal，输入

ros2 launch turtlebot3_cartographer cartographer.launch.py 

启动键盘控制节点

打开一个终端terminal，输入

ros2 run teleop_twist_keyboard teleop_twist_keyboard

结束建图

打开一个终端terminal，输入

ros2 service call /finish_trajectory cartographer_ros_msgs/srv/FinishTrajectory "{trajectory_id: 0}"

保存当前地图信息

打开一个终端terminal，输入

ros2 service call /write_state cartographer_ros_msgs/srv/WriteState "{filename: '/home/develop/bags/mymap.pbstream'}"

将pbstream转化为pgm和yaml，在cartographer_pbstream_to_ros_map目录下执行

cd /opt/ros/humble/lib/cartographer_ros
./cartographer_pbstream_to_ros_map -map_filestem=${HOME}/bags/mymap -pbstream_filename=${HOME}/bags/mymap.pbstream -resolution=0.05