ROS与开发板入门教程-树莓派3源码安装Turtlebot(ubuntu mate 16.04+kinetic+Turtlebot)

ROS与开发板入门教程-树莓派3源码安装Turtlebot(ubuntu mate16.04+kinetic)

说明

• 介绍树莓派3安装ubuntu mate16.04+kinetic之后，再源码安装Turtlebot

系统安装

• 安装ubuntu mate16.04+kinetic

  • 参考树莓派3debs安装ROS环境(ubuntu mate 16.04+kinetic)

• 设置扩展空间,参考树莓派3-配置-根分区扩展到整张SD卡

• 增加SWAP，参考树莓派3-配置-扩展SWAP

turtlebot安装

• 安装准备

$ sudo apt-get install python-rosdep python-wstool ros-kinetic-ros
$ sudo rosdep init
$ rosdep update

• 分别建立三个工作空间rocon，kobuki，turtlebot，下载和编译源码
• 建立rocon目录，下载和编译，rocon都有对应的kinetic版本

$ mkdir ~/rocon
$ cd ~/rocon
$ wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/release/kinetic/rocon.rosinstall
$ source /opt/ros/kinetic/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make

• 如果wstool更新失败，可以重新更新：

$ wstool update -t src

• 建立kobuki目录，下载和编译.
• kobuki使用kinetic的版本下载会失败，先用indigo版本生成下载的rosinstall文件，再修改对应包为kinetic版本

$ mkdir ~/kobuki
$ cd ~/kobuki
$ wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/kobuki.rosinstall 
$ vim kobuki.rosinstall #参照kobuki.rosinstall文件内容，修改后在进行。
$ wstool init src -j5 kobuki.rosinstall 
$ source ~/rocon/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make

• kobuki.rosinstall 文件为：

# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2016-12-08
- git:
    local-name: kobuki
    uri: https://github.com/yujinrobot/kobuki.git
    version: kinetic
- git:
    local-name: kobuki_core
    uri: https://github.com/yujinrobot/kobuki_core.git
    version: kinetic
- git:
    local-name: kobuki_desktop
    uri: https://github.com/yujinrobot/kobuki_desktop.git
    version: kinetic
- git:
    local-name: kobuki_msgs
    uri: https://github.com/yujinrobot/kobuki_msgs.git
    version: kinetic
- git:
    local-name: yocs_msgs
    uri: https://github.com/yujinrobot/yocs_msgs.git
    version: release/0.6-kinetic
- git:
    local-name: yujin_ocs
    uri: https://github.com/yujinrobot/yujin_ocs.git
    version: kinetic

• 建立turtlebot目录，下载和编译.
• turtlebot使用kinetic的版本下载会失败，先用indigo版本生成下载的rosinstall文件，再修改对应包为kinetic版本，没有kinetic版本的保持为indigo版本

$ mkdir ~/turtlebot
$ cd ~/turtlebot
$ wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall
$ vim turtlebot.rosinstall #参照turtlebot.rosinstall文件内容，修改后在进行。
$ wstool init src -j5 turtlebot.rosinstall
$ source ~/kobuki/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make

• turtlebot.rosinstall文件内容:

# THIS IS AN AUTOGENERATED FILE, LAST GENERATED USING wstool ON 2016-12-08
- git:
    local-name: turtlebot
    uri: https://github.com/turtlebot/turtlebot.git
    version: kinetic
- git:
    local-name: turtlebot_apps
    uri: https://github.com/turtlebot/turtlebot_apps.git
    version: indigo
- git:
    local-name: turtlebot_create
    uri: https://github.com/turtlebot/turtlebot_create.git
    version: indigo
- git:
    local-name: turtlebot_create_desktop
    uri: https://github.com/turtlebot/turtlebot_create_desktop.git
    version: kinetic
- git:
    local-name: turtlebot_interactions
    uri: https://github.com/turtlebot/turtlebot_interactions.git
    version: indigo
- git:
    local-name: turtlebot_msgs
    uri: https://github.com/turtlebot/turtlebot_msgs.git
    version: indigo
- git:
    local-name: turtlebot_simulator
    uri: https://github.com/turtlebot/turtlebot_simulator.git
    version: indigo

生成kobuki别名

$ rosrun kobuki_ftdi create_udev_rules

安装kinect驱动

$ sudo apt-get install ros-kinetic-openni-* ros-kinetic-openni2-* ros-kinetic-freenect-*

测试turtlebot

• 参考Turtlebot入门-测试Turtlebot安装
• Turtlebot入门-测试Kinect
• Turtlebot入门-遥控
• 参考Turtlebot入门教程