ubuntu 16.04 安装TurtleBot3 ROS功能包

 

安装依赖

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

　　

安装功能包

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

　　

设置环境变量

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

　　

配置网络

export ROS_MASTER_URI=http://192.168.11.104:11311
export ROS_HOSTNAME=192.168.11.104

　　

说明模型

export TURTLEBOT3_MODEL=burger
#export TURTLEBOT3_MODEL=waffle_pi

　　

雷达类型

export LDS_MODEL=LDS-01
export TURTLEBOT3_LASER_SENSOR=rplidar