Ubuntu 16.04 + ROS kinect 环境下配置 Turtlebot 2

前言

假定你已经安装好 Ubuntu 16.04 以及 ROS kinect，另外笔者使用的是zsh终端，如果你使用的是bash或者其它的终端，只需将命令中出现的 zsh 改为 bash 或者你所使用的终端名字即可
例如：
echo "source ~/turtlebot_ws/devel/setup.zsh" >> ~/.zshrc
如果你所使用的是bash终端，则改为：
echo "source ~/turtlebot_ws/devel/setup.bash" >> ~/.bashrc

1 Ubuntu 软件包安装

1） 二进制安装

• 安装Turtlebot包

sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions  ros-kinetic-kobuki-ftdi  ros-kinetic-ar-track-alvar-msgs  ros-kinetic-turtlebot-simulator

2） 源码安装

其中ros-kinetic-rocon-remocon 以及 ros-kinetic-rocon-qt-library 亦或是 ros-kinetic-turtlebot-simulator 一般无法二进制安装，故我们采用源码安装

• 安装编译所需依赖环境

sudo apt-get install pyqt4-dev-tools pyqt5-dev-tools

• 下载并编译源码

mkdir -p ~/turtlebot_ws/src
cd ~/turtlebot_ws/src
git clone https://github.com/robotics-in-concert/rocon_qt_gui.git
git clone https://github.com/turtlebot/turtlebot_simulator.git 
cd ..
catkin_make 
echo "source ~/turtlebot_ws/devel/setup.zsh" >> ~/.zshrc
source ~/turtlebot_ws/devel/setup.zsh

2 Turtlebot 源码安装

1）安装前准备

sudo apt-get install python-rosdep python-wstool ros-indigo-ros
sudo rosdep init
rosdep update

2）建立工作空间

分别建立三个工作空间rocon、 kobuki以及turtlebot，下载并且编译对应源码

• rocon

mkdir ~/rocon
cd ~/rocon
wstool init -j12 src https://raw.github.com/robotics-in-concert/rocon/release/indigo/rocon.rosinstall
source /opt/ros/indigo/setup.zsh
rosdep install --from-paths src -i -y
catkin_make

注：此处的 wstool init -j12 src 中的 -j12 表示以十二线程运行，这取决于你电脑CPU的线程数，下同

• kobuki

由于 kobuki 没有直接对应的 ROS kinect 版本的 rosinstall 文件，所以需要先下载 ROS indigo 版本的 rosinstall 文件，再进行修改

mkdir ~/kobuki
cd ~/kobuki
wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/kobuki.rosinstall 

修改 rosinstall 文件

sudo gedit kobuki.rosinstall

将文件全部内容替换为如下：

# 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

修改完后保存文件，继续执行

wstool init src -j12 kobuki.rosinstall 
source ~/rocon/devel/setup.zsh
rosdep install --from-paths src -i -y
catkin_make  

• turtlebot

由于 turtlebot 也没有直接对应的 ROS kinect 版本的 rosinstall 文件，故需作同样的处理

mkdir ~/turtlebot
cd ~/turtlebot
wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall

修改 rosinstall 文件

sudo gedit turtlebot.rosinstall

将文件全部内容替换为如下：

# 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

修改完后保存文件，继续执行

wstool init src -j12 kobuki.rosinstall 
source ~/rocon/devel/setup.zsh
rosdep install --from-paths src -i -y
catkin_make

现在已经完成了Turtlebot 2 的源码安装，还有最后一步设置环境变量

3 设置环境变量

echo "source ~/rocon/devel/setup.zsh" >> ~/.zshrc
echo "source ~/kobuki/devel/setup.zsh" >> ~/.zshrc
echo "source ~/turtlebot/devel/setup.zsh" >> ~/.zshrc

到此处我们就完成了Ubuntu 16.04 + ROS kinect 环境下的Turtlebot 2安装，接下来可以测试安装是否成功

4 测试 Turtlebot 安装

首先将 Tuetlebot 2 打开电源并与笔记本相连，在终端中运行检测命令

ls /dev/kobuki

如果连接正常会显示
/dev/kobuki
1、启动 ROS 核心服务，打开第1个终端，运行

roscore

如果 ROS 安装正常，会显示
started core service [/rosout]
2、启动 Tuetlebot 2，打开第2个终端，运行

roslaunch turtlebot_bringup minimal.launch

3、启动键盘控制，打开第3个终端，运行

roslaunch turtlebot_teleop keyboard_teleop.launch

按照提示，按下 i 键可使 Tuetlebot 2 前进，则安装成功