[ROS2]源码安装turtlebot3用于调试（简易版）

[ROS2]源码安装turtlebot3用于调试（简易版）

下面的操作是基于galactic

turtlebot3的代码下载：

安装git和编译工具

sudo apt-get install git python3-vcstool build-essential python3-colcon-common-extensions
mkdir -p turtlebot3_ws/src
cd turtlebot3_ws/
git clone https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3.git src/turtlebot3 -b galactic-devel
git clone https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git src/turtlebot3_msgs -b galactic-devel
git clone https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git src/turtlebot3_simulations -b galactic-devel

注意：链接中的https://ghproxy.com/ 为使用代理下载github代码。

可选使用vcs工具下载源码：

安装vcs

sudo apt-get install python3-vcstool

在turtlebot3_ws目录下新建tmp.repos 。复制下面的内容到该文件并保存。

repositories:
  turtlebot3:
    type: git
    url: https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3.git
    version: galactic-devel
  turtlebot3_msgs:
    type: git
    url: https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
    version: galactic-devel
  turtlebot3_simulations:
    type: git
    url: https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
    version: galactic-devel

turtlebot3_ws目录下运行

vcs import src < tmp.repos

解决依赖

rosdep update

rosdep install --from-paths src --ignore-src --rosdistro galactic -yr
sudo apt-get install ros-galactic-gazebo-*

编译

colcon build --symlink-install

在turtlebot3_ws目录下source编译好的程序

source install/setup.bash

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