学习使用turtlebot2——ROS上安装turtlebot2

安装环境：

    安装Ubuntu 14.04版本和ROS Indigo

    参考：http://wiki.ros.org/turtlebot/Tutorials

安装步骤

    有两种安装方法，一种直接的安装命令，另外一种源码编译安装，区别在于：直接安装命令是安装在电脑默认路径/opt/ros/indigo/share里面不便于更改代码，因为默认路径下文件一般有访问权限，无法直接更改，需要使用sudo chmod -R 777 /opt更改其权限，使得每个使用的人都可以更改；源码编译，安装的文件在Home主目录中,方便更改。

1、直接安装命令

sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs

2、源码方式安装

    1)先安装依赖项

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

    2)建立Turtlebot工作空间

#创建三个文件夹，分别存放rocon、kobuki、turtlebot，复制相应的代码、设置文件所在路径工作环境、编译
 mkdir ~/rocon
 cd ~/rocon
 wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/release/indigo/rocon.rosinstall
 source /opt/ros/indigo/setup.bash
 rosdep install --from-paths src -i -y
 catkin_make

 mkdir ~/kobuki
 cd ~/kobuki
 wstool init src -j5 https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/kobuki.rosinstall
 source ~/rocon/devel/setup.bash
 rosdep install --from-paths src -i -y
 catkin_make

 mkdir ~/turtlebot
 cd ~/turtlebot
 wstool init src -j5 https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall
 source ~/kobuki/devel/setup.bash
 rosdep install --from-paths src -i -y
 catkin_make                                                                                                                                                                                           

安装完成后，测试命令：

roslaunch turtlebot_bringup minimal.launch

如果正常可以看到以下界面

fjx@giimbot:~$ roslaunch turtlebot_bringup minimal.launch
... logging to /home/fjx/.ros/log/e9549e36-850f-11e8-ab48-543530c06929/roslaunch-giimbot-19656.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://giimbot:36504/

SUMMARY
========

PARAMETERS
 * /app_manager/auto_rapp_installation: False
 * /app_manager/auto_start_rapp: 
 ...........(中间省略)
process[interactions-12]: started with pid [19769]
process[zeroconf/zeroconf-13]: started with pid [19781]
[ INFO] [1531316403.920700304]: Zeroconf: service successfully established [turtlebot][_ros-master._tcp][11311]