Turtlebot1入门教程-安装Turtlebot（Ubuntu18.04+Melodic）

安装turtlebot的依赖：

sudo apt-get install ros-melodic-kobuki-*

sudo apt-get install ros-melodic-ecl-streams

sudo apt-get install libusb-dev

sudo apt-get install libspnav-dev

sudo apt-get install ros-melodic-joystick-drivers

sudo apt-get install bluetooth

sudo apt-get install libbluetooth-dev

sudo apt-get install libcwiid-dev

新建工作空间，准备相关包

mkdir -p ~/turtlebot_ws/src 

cd ~/turtlebot_ws/src 

git clone https://github.com/turtlebot/turtlebot_simulator

git clone https://github.com/turtlebot/turtlebot.git

git clone https://github.com/turtlebot/turtlebot_apps.git

git clone https://github.com/udacity/robot_pose_ekf

git clone https://github.com/ros-perception/depthimage_to_laserscan.git 

git clone https://github.com/yujinrobot/kobuki_msgs.git

git clone https://github.com/yujinrobot/kobuki_desktop.git

cd kobuki_desktop/

rm -r kobuki_qtestsuite

git clone https://github.com/toeklk/orocos-bayesian-filtering.git

git clone https://github.com/turtlebot/turtlebot_msgs.git

git clone https://github.com/ros-drivers/joystick_drivers.git

复制kobuki和yujin_ocs依赖库到turtlebot_ws / src工作空间下

mkdir -p ~/repos/

cd ~/repos/

git clone https://github.com/yujinrobot/kobuki.git

cp -r kobuki/* ~/turtlebot_ws/src/

git clone https://github.com/yujinrobot/yujin_ocs.git

cp -r yujin_ocs/yocs_cmd_vel_mux/ yujin_ocs/yocs_controllers ~/turtlebot_ws/src/

编译工作空间

cd ~/turtlebot_ws

catkin_make

这里编译的时候会出先这个报错：

-- Checking for module 'orocos-bfl'
--   No package 'orocos-bfl' found
CMake Error at /usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:415 (message):
  A required package was not found
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:593 (_pkg_check_modules_internal)
  robot_pose_ekf/CMakeLists.txt:6 (pkg_check_modules)


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

原因：系统缺少bfl包
解决方法：1、安装bfl包：

sudo apt-get install ros-melodic-bfl

2、再编译，成功解决！

------------------by–>帕帕尼
2020.11.13

添加工作空间到bashrc文件

echo "source ~/turtlebot_ws/devel/setup.bash" >> ~/.bashrc

启用环境变量

source ~/.bashrc 

启动底盘：

roslaunch turtlebot_bringup minimal.launch

启动键盘控制：

roslaunch turtlebot_teleop keyboard_teleop.launch

本文的大部分内容转载于：创客智造turtlebot入门教程