阅读本文的前提是你已经成功安装了ROS的kinetic版本
1.rocon安装,开启一个终端,运行下面的命令
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
2.kinetic下Turtlebot包安装
安装Turtlebot,打开终端,运行如下命令:
sudo apt-get update
sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator
ros-indigo-kobuki-ftdi ros-indigo-ar-track-alvar-msgs
3.测试安装
3.1打开一个终端,运行:
roscore
3.2在打开一个终端,运行:
ls /dev/kobuki
显示有对应的设备
/dev/kobuki
即表示安装成功。
3.3通过遥控移动
-
打开Turtlebot开关,状态点亮。
-
启动Turtlebot,打开一个新终端,运行如下命令:
roslaunch turtlebot_bringup minimal.launch
- 启动键盘遥控,打开另一个新终端,运行如下命令:
roslaunch turtlebot_teleop keyboard_teleop.launch
- 点击键盘“i”前进,界面上显示按键对应驱动TB2.