Turtlebot3 Ubuntu Melodic ACM0 Gmapping

 

sudo chmod 777 /dev/ttyUSB0

sudo chmod 777 /dev/ttyACM0

sudo apt-get install ros-$ROS_DISTRO-rosserial-python

sudo apt-get install ros-$ROS_DISTRO-gmapping

　　

 

cd ~/catkin_ws/src/turtlebot3/turtlebot3_bringup
sudo cp ./99-turtlebot3-cdc.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules
sudo udevadm trigger

　　

vim .bashrc

export TURTLEBOT3_MODEL=burger
#export TURTLEBOT3_MODEL=waffle_pi

　　

export ROS_MASTER_URI=http://192.168.11.102:11311
export ROS_HOSTNAME=192.168.11.100

　　

export LDS_MODEL=LDS-01

　　

export TURTLEBOT3_LASER_SENSOR=rplidar