Ubuntu 18.04 LTS +Melodic ROS配置TurtleBot3+运行gazebo仿真

1    确定ROS 发行版版本

在ROS wiki搜索(或者google)turtlebot install，会出现安装方法网址如下，

link:http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation

如果你的ROS不是indigo版本的，点击图1中的turtlebot超链接：

                                                                                         图1

会进入这个页面，link:http://wiki.ros.org/action/show/Robots/TurtleBot?action=show&redirect=TurtleBot

下面有关于TURTLEBOT3和2的安装PKG，以安装turtlebot3的pkg为例，如图2所示，

                                                               

                                                                                图2

依次安装这些pkg，以第一个turtlebot3这个PKG为例，点开超链接，如图3所示，

image widget

                                                                                        图3

点击右侧的dependencies，查看依赖包，点击依赖包安装全部之后才能继续安装turtlebot3这个包，这里有所不同的是，点开左下角的Source;git https://github.com/ROBOTIS-GIT/turtlebot3.git,在github上发现所有的依赖包都有，因此可以直接使用如下命令批量安装

cd ~/catkin_ws/src
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

下载好后，

方法一：可以选择在当前目录安装使用如下命令：

cd ~/catkin_ws
catkin_make
source ./devel/setup.bash

 

方法二，因为这是常用的包，可以将它放到ROS库的PKG中，通过如下方式查看pkg的位置

$ echo $ROS_PACKAGE_PATH
/home/simileciwh/catkin_ws/src:/opt/ros/melodic/share

用“：”相隔表示当前环境有两个ROS包的路径，/opt/ros/melodic/share是系统ROS的默认路径，通过如下指令安装

sudo su
#输入root密码
cd /home/<你的用户名对应的目录>/catkin_ws/src
cp -r <"刚刚下载的turtlebot3包的名字"> /opt/ros/melodic/share

注意使用这种直接拷贝的方式安装，一定要确保所有依赖关系都安装全了，不然当你运行到特定的节点时会报错，这时一句错我提示，讲该文件拷贝到catkin_ws/src文件夹下，然后使用方法一构建节点，根据提示将少的pkg安装上。

用如下指令查看PKG是否安装完成，如下所示就算安装结束了，可以直接使用roslaunch，或者rosrun运行节点。

$ rospack list
turtlebot3_automatic_parking /opt/ros/melodic/share/turtlebot3_applications-master/turtlebot3_automatic_parking
turtlebot3_automatic_parking_vision /opt/ros/melodic/share/turtlebot3_applications-master/turtlebot3_automatic_parking_vision
turtlebot3_autorace_camera /opt/ros/melodic/share/turtlebot3_autorace-master/turtlebot3_autorace_camera
turtlebot3_autorace_control /opt/ros/melodic/share/turtlebot3_autorace-master/turtlebot3_autorace_control
turtlebot3_autorace_core /opt/ros/melodic/share/turtlebot3_autorace-master/turtlebot3_autorace_core
turtlebot3_autorace_detect /opt/ros/melodic/share/turtlebot3_autorace-master/turtlebot3_autorace_detect
turtlebot3_bringup /opt/ros/melodic/share/turtlebot3-master/turtlebot3_bringup
turtlebot3_description /opt/ros/melodic/share/turtlebot3-master/turtlebot3_description
turtlebot3_example /opt/ros/melodic/share/turtlebot3-master/turtlebot3_example
turtlebot3_fake /opt/ros/melodic/share/turtlebot3_simulations-master/turtlebot3_fake
turtlebot3_follow_filter /opt/ros/melodic/share/turtlebot3_applications-master/turtlebot3_follow_filter
turtlebot3_follower /opt/ros/melodic/share/turtlebot3_applications-master/turtlebot3_follower
turtlebot3_gazebo /opt/ros/melodic/share/turtlebot3_simulations-master/turtlebot3_gazebo
turtlebot3_msgs /opt/ros/melodic/share/turtlebot3_msgs-master
turtlebot3_navigation /opt/ros/melodic/share/turtlebot3-master/turtlebot3_navigation
turtlebot3_panorama /opt/ros/melodic/share/turtlebot3_applications-master/turtlebot3_panorama
turtlebot3_slam /opt/ros/melodic/share/turtlebot3-master/turtlebot3_slam
turtlebot3_teleop /opt/ros/melodic/share/turtlebot3-master/turtlebot3_teleop

注意，有些PKG的安装方法在相应的github上有链接，按照作者的方式来，不要一味使用上诉方式

如果此时直接运行turtlebot3的相关节点会，提示“没有给turtlebot3选定model”，通过以下指令配置：

export TURTLEBOT3_MODEL=<在burger,waffle,waffle_pi三种中选择一个，一般我们选择burger>
#commond-line like this:
$ export TURTLEBOT3_MODEL=burger

2      gazebo仿真

    2.1 安装gazebo

link:http://gazebosim.org/tutorials/?tut=ros_wrapper_versions
如图4所示，

                                                                                     图4

点击图中installing gazebo_ros_pkgs，进入，link:http://gazebosim.org/tutorials?tut=ros_installing&cat=connect_ros

按照步骤进行安装。注意最好选择以源的形式进行安装。

测试基本完成后，用以下命令运行gazebo_ros仿真，即可完成。

$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
#注意要先运行roscore

第一次运行gazebo仿真打开时间会较长，或者失败，请耐心多尝试几次即可。

3     可以在YouTube上学习一些关于此的方法

link:https://www.youtube.com/watch?v=DLVyc9hOvk8&list=PLJNGprAk4DF5PY0kB866fEZfz6zMLJTF8&index=4

---

2018-10-4 updating

4     因为重装系统的原因又重新配置了turtlebot3的环境，遇到了一些新老问题，记录解决办法如下：

4.1   Could NOT find GLEW (missing: GLEW_INCLUDE_DIR GLEW_LIBRARY)

-- +++ processing catkin package: 'moveit_ros_perception'
-- ==> add_subdirectory(moveitPkg/moveit-melodic-devel/moveit_ros/perception)
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   thread
--   signals
--   chrono
--   system
--   date_time
--   atomic
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libOpenGL.so   
CMake Error at /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:137 (message):
  Could NOT find GLEW (missing: GLEW_INCLUDE_DIR GLEW_LIBRARY)
Call Stack (most recent call first):
  /usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE)
  /usr/share/cmake-3.10/Modules/FindGLEW.cmake:38 (find_package_handle_standard_args)
  moveitPkg/moveit-melodic-devel/moveit_ros/perception/CMakeLists.txt:16 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/simileciwh/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/simileciwh/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:22678: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

解决办法：

$ sudo apt-get install libglew-dev

4.2    Could not find a package configuration file provided by "ompl" with any of
  the following names:

-- +++ processing catkin package: 'moveit_planners_ompl'
-- ==> add_subdirectory(moveitPkg/moveit-melodic-devel/moveit_planners/ompl)
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   system
--   filesystem
--   date_time
--   thread
--   serialization
--   chrono
--   atomic
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Error at moveitPkg/moveit-melodic-devel/moveit_planners/ompl/CMakeLists.txt:22 (find_package):
  By not providing "Findompl.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "ompl", but
  CMake did not find one.

  Could not find a package configuration file provided by "ompl" with any of
  the following names:

    omplConfig.cmake
    ompl-config.cmake

  Add the installation prefix of "ompl" to CMAKE_PREFIX_PATH or set
  "ompl_DIR" to a directory containing one of the above files.  If "ompl"
  provides a separate development package or SDK, be sure it has been
  installed.


-- Configuring incomplete, errors occurred!
See also "/home/simileciwh/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/simileciwh/catkin_ws/build/CMakeFiles/CMakeError.log".
Makefile:22678: recipe for target 'cmake_check_build_system' failed
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

解决方法：

$ sudo apt-get install ros-melodic-ompl