Turtlebot3 Noetic ROS包安装

 

安装依赖包

sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy \
  ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc \
  ros-noetic-rgbd-launch ros-noetic-rosserial-arduino \
  ros-noetic-rosserial-python ros-noetic-rosserial-client \
  ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server \
  ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro \
  ros-noetic-compressed-image-transport ros-noetic-rqt* ros-noetic-rviz \
  ros-noetic-gmapping ros-noetic-navigation ros-noetic-interactive-markers -y

　　

安装Turtlebot3包

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
git clone -b noetic-devel https://gitee.com/kay2020/DynamixelSDK.git
git clone -b noetic-devel https://gitee.com/kay2020/turtlebot3_msgs.git
git clone -b noetic-devel https://gitee.com/kay2020/turtlebot3.git
cd ~/catkin_ws && catkin_make

　　

安装LDS-02

sudo apt install libudev-dev -y

　　

 

 git clone -b develop https://gitee.com/kay2020/ld08_driver.git

　　

安装仿真包

git clone -b noetic-devel https://gitee.com/kay2020/turtlebot3_simulations.git

　　

 

安装SLAM功能包

karto：

sudo apt install ros-noetic-slam-karto

　　

 cartographer：

sudo apt update
sudo apt install -y python3-wstool python3-rosdep ninja-build stow
cd ~/catkin_ws/src
wstool init src
wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=noetic -y
src/cartographer/scripts/install_abseil.sh
sudo apt remove ros-noetic-abseil-cpp
catkin_make_isolated --install --use-ninja