Ubuntu 16.04 kinetic 下安装turtlebot2

默认安装Ubuntu16.04以及ROS kinetic

防止忘记.

1. 准备工作:

$ sudo apt-get install python-rosdep python-wstool ros-kinetic-ros
$ sudo rosdep init
$ rosdep update

2. 分别建立三个工作空间rocon，kobuki，turtlebot，下载和编译源码

(1) roncon

$ 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

如果遇到"/bin/sh: 1: pyrcc5: not found rocon_qt_gui"错误
则运行:
sudo apt-get install pyqt5-dev-tool

(2) kobuki

$ 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。

修改为:

##############################################################################
#
# If no debs, overlay on top of the rocon and ecl rosinstallers.
#
##############################################################################
# Kobuki / Yujin stacks

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

- 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'}

#- git: {local-name: capabilities, version: master, uri: 'https://github.com/osrf/capabilities.git'}
#- git: {local-name: std_capabilities, version: master, uri: 'https://github.com/osrf/std_capabilities.git'}

$ wstool init src -j5 kobuki.rosinstall #如果找不到kobuki.rosinstall,自行在其他文件夹中找一下
$ source ~/rocon/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make

(3) turtlebot

$ 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。

修改为:

##############################################################################
#
# If no debs, overlay on top of the kobuki, rocon and ecl rosinstallers.
#
##############################################################################

#- 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: indigo, 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: indigo, uri: 'https://github.com/turtlebot/turtlebot_create_desktop.git'}

- 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'}

$ wstool init src -j5 turtlebot.rosinstall #如果找不到turtlebot.rosinstall,自行在其他文件夹中找一下
$ source ~/kobuki/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make