ubuntu18.04安装turtlebot3记录

首先当然是环境准备，ros-melodic安装
接下来是安装turtlebot3的环境依赖

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

sudo apt-get  install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers ros-melodic-turtlebot3-gazebo

安装turtlebot3

mkdir -p ~/turtlebot_ws/src
cd ~/turtlebot_ws/src
 git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
 git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
 git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ..
catkin_make

没有报错就成功了,设置环境变量

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

启动Gazebo仿真器仿真

mkdir -p ~/.gazebo/models/
cp -r ~/turtlebot_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models/turtlebot3_burger ~/.gazebo/models/
export TURTLEBOT3_MODEL=burger//设置机器型号，我这里选择的是burger

启动地图

roslaunch turtlebot3_gazebo turtlebot3_world.launch
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

这里会报错

[Err] [REST.cc:205] Error in REST request

libcurl: (51) SSL: no alternative certificate subject name matches target host name 'api.ignitionfuel.org'

解决方法

vi ~/.ignition/fuel/config.yaml

将~/.ignition/fuel/config.yaml中的 https://api.ignitionfuel.org 改为 https://api.ignitionrobotics.org