ubuntu 16.04(ROS kinetic)安装 turtlebot

安装的这么辛苦，当然要记录啦。。。

 

环境配置：

Ubuntu16.04 + kinetic +turtlebot

 

安装依赖和更新：

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

！！！之前已经执行过的不要再执行了，再次执行会报错，可以直接跳过！！！

----------------------敲黑板---------------------------------------开始干活--------------------------------

分别建立三个工作空间rocon，kobuki，turtlebot，下载和编译源码 

1、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 rosdep install --from-paths src -i -y 这一步报错，就跑一下下面的

$ rosdep install --from-paths ~/rocon/src --ignore-src -r

 有时wstool init不OK，sudo apt-get update一下

2、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 
$ gedit kobuki.rosinstall #参照下面kobuki.rosinstall文件内容，修改后再进行下一步。
$ wstool init src -j5 kobuki.rosinstall 
$ source ~/rocon/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make

kobuki.rosinstall 文件修改如下：

- 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

3、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 #参照以下turtlebot.rosinstall文件内容，修改后再进行。
$ wstool init src -j5 turtlebot.rosinstall
$ source ~/kobuki/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make

turtlebot.rosinstall文件修改如下:

- 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

至此，还差一丢丢。。。

$ . ~/turtlebot/devel/setup.bash 
$ rosrun kobuki_ftdi create_udev_rules
$ echo "source ~/turtlebot/devel/setup.bash" >> ~/.bashrc

做完后会多出kuboki，rocon，turtlebot三个文件夹，每个文件夹下有是src，devel，build三个文件夹

-----------------------------------测试是否成功---------------------------------------------------

$ roscore
$ cd turtlebot
$ roslaunch turtlebot_bringup minimal.launch
$ roslaunch turtlebot_develop keyboard.launch

能跑就ok啦。。。