Noetic安装turtlebot2

Noetic安装turtlebot2

前提条件

ros-noetic 安装完成
gazebo 安装完成

获取相关源码

mkdir ~/catkin_ws/src -p
cd ~/catkin_ws/src

# turtlebot2
git clone https://github.com/turtlebot/turtlebot.git
git clone https://github.com/turtlebot/turtlebot_msgs.git
git clone https://github.com/turtlebot/turtlebot_apps.git
git clone https://github.com/turtlebot/turtlebot_simulator

# kobuki
git clone https://github.com/yujinrobot/kobuki_msgs.git
git clone --branch melodic https://github.com/yujinrobot/kobuki.git

mv kobuki/kobuki_description ./
mv kobuki/kobuki_node ./
mv kobuki/kobuki_keyop ./
mv kobuki/kobuki_safety_controller ./
mv kobuki/kobuki_bumper2pc ./
rm -rf kobuki

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

mv yujin_ocs/yocs_cmd_vel_mux yujin_ocs/yocs_controllers .
rm -rf yujin_ocs

cd ~/catkin_ws
catkin_make
source devel/setup.zsh

运行

# simulation
roslaunch turtlebot_gazebo turtlebot_world.launch
# teleop control
roslaunch turtlebot_teleop keyboard_teleop.launch

参考

1、Turtlebot2_on_Noetic
2、turtlebot2-on-noetic