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2020
10-20

Turtlebot3入門教程-系統-SBC軟件設置(ubuntu20.04)

本文針對如何在樹莓派3上安裝ubuntu20.04系統和軟件進行講解

樹莓派3接上顯示屏和鼠標后,開機后繼續安裝軟件包

1)系統安裝:

(2)ROS安裝:

(3)TurboBot3依賴的ROS包安裝

安裝turtlebot3依賴:

sudo apt-get install ros-noetic-joy  ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc ros-noetic-rgbd-launch 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-image-view  ros-noetic-navigation

 

需要源碼安裝的依賴

cd ~/pkg_ws/src

git clone -b melodic-devel https://github.com/ros-teleop/teleop_twist_joy

git clone -b melodic-devel https://github.com/ros-perception/depthimage_to_laserscan

git clone -b noetic-devel https://github.com/ros-drivers/rosserial

git clone -b melodic-devel https://github.com/ros-perception/slam_gmapping

git clone -b melodic-devel https://github.com/ros-perception/openslam_gmapping

cd ~/pkg_ws && catkin_make

 

安裝turtlebot3

cd ~/tb3_ws/src

git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

cd ~/tb3_ws&& catkin_make

如果catkin_make完成沒有任何錯誤,安裝完成。

 

USB設置(以下允許將USB端口用于沒有root權限的OpenCR板)

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





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