前提

已经安装好“创客智造”原厂镜像
下载地址：待更新

turtlebot3安装

• 安装turtlebot3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-image-view ros-kinetic-gmapping ros-kinetic-navigation

• 安装turtlebot3源码：

cd ~/catkin_ws/src
#获取镜像
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
#开始编译
cd ~/catkin_ws && catkin_make
#环境设置
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

• 添加别名：

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

turbot3安装

mkdir -p ~/turbot3_ws/src
cd ~/turbot3_ws/src
git clone https://github.com/ncnynl/turbot3
cd ~/turbot3_ws && catkin_make
#环境设置
echo "source ~/turbot3_ws/devel/setup.bash" >> ~/.bashrc

其它驱动安装

• kinect v1驱动安装：

sudo apt-get install  ros-kinetic-freenect-*

• rplidar A2雷达驱动安装：

mkdir -p ~/turbot3_ws/src
cd ~/turbot3_ws/src
git clone https://github.com/ncnynl/rplidar_ros.git
cd ~/turbot3_ws && catkin_make

• 添加模型声明:

echo "export TURTLEBOT3_MODEL=waffle" >> ~/.bashrc