qpython3手机版turtle_ROS与开发板入门教程-树莓派3源码安装Turtlebot(ubuntu mate 16.04+kinetic+Turtlebot)...

ROS与开发板入门教程-树莓派3源码安装Turtlebot(ubuntu mate16.04+kinetic)

说明

介绍树莓派3安装ubuntu mate16.04+kinetic之后，再源码安装Turtlebot

系统安装

turtlebot安装

安装准备

$ sudo apt-get install python-rosdep python-wstool ros-kinetic-ros

$ sudo rosdep init

$ rosdep update

分别建立三个工作空间rocon，kobuki，turtlebot，下载和编译源码

建立rocon目录，下载和编译，rocon都有对应的kinetic版本

$ mkdir ~/rocon

$ cd ~/rocon

$ wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/release/kinetic/rocon.rosinstall

$ source /opt/ros/kinetic/setup.bash

$ rosdep install --from-paths src -i -y

$ catkin_make

如果wstool更新失败，可以重新更新：

$ wstool update -t src

建立kobuki目录，下载和编译.

kobuki使用kinetic的版本下载会失败，先用indigo版本生成下载的rosinstall文件，再修改对应包为kinetic版本

$ mkdir ~/kobuki

$ cd ~/kobuki

$ wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/kobuki.rosinstall

$ vim kobuki.rosinstall #参照kobuki.rosinstall文件内容，修改后在进行。

$ wstool init src -j5 kobuki.rosinstall

$ source ~/rocon/devel/setup.bash

$ rosdep install --from-paths src -i -y

$ catkin_make

kobuki.rosinstall 文件为：

# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2016-12-08

- git:

local-name: kobuki

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

version: kinetic

- git:

local-name: kobuki_core

uri: https://github.com/yujinrobot/kobuki_core.git

version: kinetic

- git:

local-name: kobuki_desktop

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

version: kinetic

- git:

local-name: kobuki_msgs

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

version: kinetic

- git:

local-name: yocs_msgs

uri: https://github.com/yujinrobot/yocs_msgs.git

version: release/0.6-kinetic

- git:

local-name: yujin_ocs

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

version: kinetic

建立turtlebot目录，下载和编译.

turtlebot使用kinetic的版本下载会失败，先用indigo版本生成下载的rosinstall文件，再修改对应包为kinetic版本，没有kinetic版本的保持为indigo版本

$ mkdir ~/turtlebot

$ cd ~/turtlebot

$ wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall

$ vim turtlebot.rosinstall #参照turtlebot.rosinstall文件内容，修改后在进行。

$ wstool init src -j5 turtlebot.rosinstall

$ source ~/kobuki/devel/setup.bash

$ rosdep install --from-paths src -i -y

$ catkin_make

turtlebot.rosinstall文件内容:

# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2016-12-08

- git:

local-name: turtlebot

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

version: kinetic

- git:

local-name: turtlebot_apps

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

version: indigo

- git:

local-name: turtlebot_create

uri: https://github.com/turtlebot/turtlebot_create.git

version: indigo

- git:

local-name: turtlebot_create_desktop

uri: https://github.com/turtlebot/turtlebot_create_desktop.git

version: kinetic

- git:

local-name: turtlebot_interactions

uri: https://github.com/turtlebot/turtlebot_interactions.git

version: indigo

- git:

local-name: turtlebot_msgs

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

version: indigo

- git:

local-name: turtlebot_simulator

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

version: indigo

生成kobuki别名

$ rosrun kobuki_ftdi create_udev_rules

安装kinect驱动

$ sudo apt-get install ros-kinetic-openni-* ros-kinetic-openni2-* ros-kinetic-freenect-*

测试turtlebot