ubuntu16.04 安装turtlebot

安装依赖和更新

sudo apt-get install python-rosdep python-wstool  
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 
gedit kobuki.rosinstall #将内容修改为下面kobuki.rosinstall文件的内容 
wstool init src -j5 kobuki.rosinstall 
source ~/rocon/devel/setup.bash 
rosdep install --from-paths src -i -y 
catkin_mak

kobuki.rosinstall文件

- git: {local-name: yocs_msgs, version: release/0.6-kinetic, uri: 'https://github.com/yujinrobot/yocs_msgs.git'}
- git: {local-name: yujin_ocs, version: kinetic, uri: 'https://github.com/yujinrobot/yujin_ocs.git'}
- git: {local-name: kobuki_msgs, version: kinetic, uri: 'https://github.com/yujinrobot/kobuki_msgs.git'}
- git: {local-name: kobuki_core, version: kinetic, uri: 'https://github.com/yujinrobot/kobuki_core.git'}
- git: {local-name: kobuki, version: kinetic, uri: 'https://github.com/yujinrobot/kobuki.git'}
- git: {local-name: kobuki_desktop, version: kinetic, uri: 'https://github.com/yujinrobot/kobuki_desktop.git'}

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 
gedit turtlebot.rosinstall #将文件修改为下面turtlebot.rosinstall文件的内容 
wstool init src -j5 turtlebot.rosinstall 
source ~/kobuki/devel/setup.bash 
rosdep install --from-paths src -i -y 
catkin_make

turtlebot.rosinstall文件

- git: {local-name: turtlebot_msgs, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_msgs.git'} 
- git: {local-name: turtlebot_create, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_create.git'} 
- git: {local-name: turtlebot, version: kinetic, uri: 'https://github.com/turtlebot/turtlebot.git'} 
- git: {local-name: turtlebot_apps, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_apps.git'} 
- git: {local-name: turtlebot_interactions, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_interactions.git'} 
- git: {local-name: turtlebot_simulator, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_simulator.git'} 
- git: {local-name: turtlebot_create_desktop, version: kinetic, uri: 'https://github.com/turtlebot/turtlebot_create_desktop.git'}

添加环境变量

source ~/turtlebot_ws/devel/setup.bash

安装kinetic驱动

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

安装openni

sudo apt-get install ros-kinetic-openni-* ros-kinetic-openni2-*
rospack profile

下面的操作连接上设备进行
生成kobuki别名

rosrun kobuki_ftdi create_udev_rules

检查别名：

输入检测命令：

ls /dev/kobuki 

会显示有对应的设备/dev/kobuki,前提是电脑连接设备了

设置环境变量

echo $TURTLEBOT_3D_SENSOR
#Output: kinect

如果你看到一个3D传感器，例如asus_xtion_pro，您将需要设置环境变量的默认值，修改和重新启动终端：

echo "export TURTLEBOT_3D_SENSOR=kinect" >> .bashrc

完成