qpython3安装turtle_Turtlebot3-ROS2入门教程-PC安装

说明：

介绍如何进行Turtlebot3-ROS2入门教程中的PC安装

安装步骤

安装Ubuntu Bionic 18.04 LTS 操作系统

[Remote PC] 安装ROS2依赖包

# Install Colcon

$ sudo apt install python3-colcon-common-extensions

# Install Cartographer dependencies

$ sudo apt install -y \

google-mock \

libceres-dev \

liblua5.3-dev \

libboost-dev \

libboost-iostreams-dev \

libprotobuf-dev \

protobuf-compiler \

libcairo2-dev \

libpcl-dev \

python3-sphinx

# Install Gazebo9

$ curl -sSL http://get.gazebosim.org | sh

$ sudo apt install ros-dashing-gazebo-*

# Install Cartographer

$ sudo apt install ros-dashing-cartographer

$ sudo apt install ros-dashing-cartographer-ros

# Install Navigation2

$ sudo apt install ros-dashing-navigation2

$ sudo apt install ros-dashing-nav2-bringup

# Install vcstool

$ sudo apt install python3-vcstool

[Remote PC] 安装TurtleBot3 ROS2包

$ mkdir -p ~/turtlebot3_ws/src

$ cd ~/turtlebot3_ws

$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/ros2/turtlebot3.repos

$ vcs import src < turtlebot3.repos

$ colcon build --symlink-install

[Remote PC] 环境配置

$ echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc

$ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc

$ source ~/.bashrc

[Remote PC] 由于测试使用的是TurtleBot3-Buger，故配置模型的环境变量为burger

$ echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc