ubuntu16.04(ros_kinetic)安装turtlebot 及踩坑总结(全部亲测)和简单的操作

1.安装相关依赖和更新

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

注意:再执行 sudo rosdep init 命令时,我的电脑出现了以下的错误:

ERROR: default sources list file already exists:
    /etc/ros/rosdep/sources.list.d/20-default.list
Please delete if you wish to re-initialize

解决方法:

sudo rm /etc/ros/rosdep/sources.list.d/20-default.list

2.建立三个工作空间

整个安装过程一个需要编译三个文件，为了管理，建立了一个Turtlebot的文件夹再将接下来的三个空间放在该文件录下的.在Turtlebot目录下分别再建rocon，kobuki，turtlebo.文件夹。具体步骤如下所示：

(1)下载和编译源码,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

注意:在执行wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/release/kinetic/rocon.rosinstall命令时,报了以下的错误:

[  1%] Generating C++ code from concert_workflow_engine_msgs/Workflow.msg
Traceback (most recent call last):
  File "/opt/ros/kinetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 41, in
    import genmsg.template_tools
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/genmsg/template_tools.py", line 39, in
    import em
ImportError: No module named 'em'
总的来说就是没有em这个模块

解决方法:

python -m pip install empy

(2)建立koubuki文件夹,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,命令如下.

mkdir kobuki 
cd kobuki 
wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/kobuki.rosinstall 
gedit kobuki.rosinstall #将内容修改为下面kobuki.rosinstall文件的内容 
wstool init src -j5 kobuki.rosinstall 
source /opt/ros/kinetic/setup.bash 
rosdep install --from-paths src -i -y 
catkin_make

kobuki.rosinstall文件内容如下:

- git: {local-name: yocs_msgs, version: release/0.6-kinetic, uri: 'https://github.com/yujinrobot/yocs_msgs.git'}
- git: {local-name: yujin_ocs, version: kinetic, uri: 'https://github.com/yujinrobot/yujin_ocs.git'}
- git: {local-name: kobuki_msgs, version: kinetic, uri: 'https://github.com/yujinrobot/kobuki_msgs.git'}
- git: {local-name: kobuki_core, version: kinetic, uri: 'https://github.com/yujinrobot/kobuki_core.git'}
- git: {local-name: kobuki, version: kinetic, uri: 'https://github.com/yujinrobot/kobuki.git'}
- git: {local-name: kobuki_desktop, version: kinetic, uri: 'https://github.com/yujinrobot/kobuki_desktop.git'}

注意:再执行 wstool init src -j5 kobuki.rosinstall 命令时报了以下的错误:

安装kobuki报错:error: RPC failed; curl 18 transfer closed with outstanding read data remaining
fatal: The remote end hung up unexpectedly
fatal: 过早的文件结束符（EOF）
fatal: index-pack failed

解决方法:

git config --global http.postBuffer 524288000

先执行上面的命令,然后再删掉kobuki文件夹中的src文件 重新再执行上一次失败的命令wstool init src -j5 kobuki.rosinstall

(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,命令如下:

mkdir turtlebot 
cd turtlebot 
wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall 
gedit turtlebot.rosinstall #将文件修改为下面turtlebot.rosinstall文件的内容 
wstool init src -j5 turtlebot.rosinstall 
source /opt/ros/kinetic/setup.bash 
rosdep install --from-paths src -i -y 
catkin_make

turtlebot.rosinstall文件内容:

- git: {local-name: turtlebot_msgs, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_msgs.git'} 
- git: {local-name: turtlebot_create, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_create.git'} 
- git: {local-name: turtlebot, version: kinetic, uri: 'https://github.com/turtlebot/turtlebot.git'} 
- git: {local-name: turtlebot_apps, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_apps.git'} 
- git: {local-name: turtlebot_interactions, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_interactions.git'} 
- git: {local-name: turtlebot_simulator, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_simulator.git'} 
- git: {local-name: turtlebot_create_desktop, version: kinetic, uri: 'https://github.com/turtlebot/turtlebot_create_desktop.git'}

注意:在这个过程中又遇到了kobuki一样的错误,也是采用一样的解决方法解决的.最后三个文件都成功编译之后就进行一些简单的配置.

3.环境配置和相关驱动安装

(1)添加环境变量:

source ~/turtlebot_ws/devel/setup.bash

(2)安装kinetic驱动:

sudo apt-get install ros-kinetic-openni-* ros-kinetic-openni2-* ros-kinetic-freenect-*

(3)安装openni:

sudo apt-get install ros-kinetic-openni-* ros-kinetic-openni2-*
rospack profile

到此为止,如果没有报错或者报的错都成功解决,那么安装便是成功了.接下来进行相应的测试和使用.

4.测试和使用

将turtlebot的usb数据线接入电脑,再通电,执行以下命令:

(1)新开终端,输入:

roscore

(2)检测设备接入:

ls /dev/kobuki

此时会对应输出设备信息 /dev/kobuki

如果没有信息,则添加别名:

rosrun kobuki_ftdi create_udev_rules

重新插入usb线,再查看设备接入情况.

(3)启动turtlebot:

roslaunch turtlebot_bringup minimal.launch 

注意:如果报错: ModuleNotFoundError: No module named 're' 这个类型的错误

大概是因为你系统中装了两个版本的python冲突所引起的(我之前装了annaconda,齐总的python3.5和系统的2.7版本冲突.)

解决方法:

暂时将.bashrc文件中annaconda的内容先注释掉,用的时候再取消注释即可

sudo gedit ~/.bashrc
//然后Ctrl+F搜索anaconda的内容，一般也就集中在一起，然后注释掉。更新一下

source ~/.bashrc

(4)启动键盘控制:

roslaunch turtlebot_teleop keyboard_teleop.launch

前进,后退左转右转分别对应i k l j 四个键.

(5)通过话题发布命令控制turtlebot移动:

rostopic pub -r 10 /cmd_vel_mux/input/navi  geometry_msgs/Twist  '{linear:  {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

linear:{}线速度,一般修改x

angular:{}角速度,修改z

到此为止.turtlebot的安装及简单测试就到此为止,后续可以通过编写其他节点计算出角速度和线速度,再发布给turtlebot,使其有目的的移动.

 

参考文献:

https://blog.csdn.net/weixin_43540678/article/details/84033325

https://blog.csdn.net/wawayu_0/article/details/79460043

https://blog.csdn.net/dzhongjie/article/details/81152983

https://www.ncnynl.com/archives/201609/792.html