ROS与开发板入门教程-树莓派3源码安装Turtlebot(ubuntu mate 16.04+kinetic+Turtlebot)
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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
安装ubuntu mate16.04+kinetic
- 参考树莓派3debs安装ROS环境(ubuntu mate 16.04+kinetic)
设置扩展空间,参考树莓派3-配置-根分区扩展到整张SD卡
增加SWAP,参考树莓派3-配置-扩展SWAP
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
- 参考Turtlebot入门-测试Turtlebot安装
- Turtlebot入门-测试Kinect
- Turtlebot入门-遥控
- 参考Turtlebot入门教程
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