ROS学习笔记

Turtlebot

Turtlebot3安装

1. TurtleBot依赖包安装
   官方文档（应该需要翻墙）

$ sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers

官方文档依赖ROS kinetic版本。但是我用的是melodic。所以将上述的kinetic全部替换成melodic，即：

$ sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers

可以安装，但是感觉不安装影响也不大

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/catkin_ws && catkin_make

在根目录下建立并下载编译文档

2. 仿真器安装
   官方文档
   文档中有两种仿真器的选择：Fake Node和Gazebo。Gazebo能够加载传感器插件等，扩展性更好，所以选择使用Gazebo。但是两种仿真器的安装方法是一样的。

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ cd ~/catkin_ws && catkin_make
$ source ~/catkin_ws/devel/setup.bash

同样在之前的环境目录下~/catkin_ws/src,下载并编译仿真器环境，然后将安装包加入到ROS路径中