ros_text

sudo apt-get clean

2.sudo apt install ros-noetic-ros-base
3.sudo apt-get install ssh

sudo apt-get update
sudo apt-get install -y build-essential

sudo apt-get install ros-noetic-tf2

sudo apt-get install libbullet-dev

sudo apt-get install libsdl1.2-dev
sudo apt-get install libsdl-image1.2-dev

sudo apt-get install libyaml-cpp-dev

sudo apt-get install ros-noetic-angles

sudo apt-get install ros-noetic-tf2-geometry-msgs

sudo apt-get install ros-noetic-diagnostic-updater

sudo apt-get install ros-noetic-laser-geometry

sudo apt-get install ros-noetic-map-msgs

sudo apt-get install ros-noetic-tf2-sensor-msgs

sudo apt-get install ros-noetic-move-base-msgs

git clone https://gitee.com/xuxian11/orocos-bayesian-filtering111.git

cd orocos-bayesian-filtering111

mkdir build
cd build
cmake …
make
sudo make install

sudo apt-get install libudev-dev

18
sudo apt-get install python3-pip
pip install pyserial -i http://pypi.doubanio.com/simple/ --trusted-host pypi.doubanio.com
sudo apt-get install ros-noetic-robot-state-publisher
sudo apt-get install ros-noetic-joint-state-publisher
sudo apt-get install ros-noetic-rviz
sudo apt-get install ros-noetic-gmapping

IMU:
cd ~
git clone https://bitbucket.org/lpresearch/lpmsig1opensourcelib

ros自启

工控机自启配置步骤
(1)	工控机中动态配置各硬件端口步骤：
	将agv.sh文件放置在工控机etc/init.d/文件夹下
	$ sudo chmod +x agv.sh //编译sh文件, 注意空格
	$ sudo update-rc.d agv.sh defaults //将agv.sh文件设为开机自行执行文件
注意：目前各电路板、芯片硬件编号已经在agv.sh文件设置完毕，如更换新的硬件，需要更新agv.sh文件中的相关硬件信息。