TurtleBot3 安装ROS依赖包和功能包 -Melodic

安装ROS依赖包

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 -y

安装TB3的依赖包

source /opt/ros/melodic/setup.bash
sudo apt-get install ros-melodic-turtlebot3-msgs
sudo apt-get install ros-melodic-turtlebot3

　　

安装功能包

 

cd ~/catkin_ws/src
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

　　

 源码安装

sudo apt-get remove ros-melodic-dynamixel-sdk
sudo apt-get remove ros-melodic-turtlebot3-msgs
sudo apt-get remove ros-melodic-turtlebot3
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
sudo git clone -b melodic-devel https://gitee.com/kay2020/DynamixelSDK.git
sudo git clone -b melodic-devel https://gitee.com/kay2020/turtlebot3_msgs.git
sudo git clone -b melodic-devel https://gitee.com/kay2020/turtlebot3.git
cd ~/catkin_ws && catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

　　

 

雷达包

git clone https://gitee.com/kay2020/hls_lfcd_lds_driver.git

　　

sudo git clone https://gitee.com/kay2020/rplidar_ros.git

　　

LDS

sudo apt install ros-melodic-hls-lfcd-lds-driver

　　

 其他版本

sudo apt install ros-$ROS_DISTRO-hls-lfcd-lds-driver