ROS 控制机器人走正方形

环境

Ubuntu 14.04 +ROS indigo

准备工作

一.准备工作空间

依次执行以下命令：

mkdir -p /home/catkin_ws/src
cd /home/catkin_ws/src/
catkin_init_workspace
cd .. && catkin_make
echo "source /home/catkin_ws/devel/setup.bash" >> ~/.bashrc
chmod 777 catkin_ws/
source /home/catkin_ws/devel/setup.bash 
source ~/.bashrc

现在/home/catkin_ws就是ROS的工作空间。

然后在目录：/home/catkin_ws/src下克隆rbx1，进行如下操作：

git clone  https://github.com/pirobot/rbx1.git
cd rbx1/
git checkout indigo-devel
cd ../..
catkin_make
source devel/setup.bash
rospack profile

如果提示：no module named em,执行：

pip install empy

接下来在目录/home/catkin_ws/src 下克隆ros_tutorials，进行如下操作：

git clone https://github.com/ros/ros_tutorials.git
cd ros_tutorials
git checkout indigo-devel
cd ../..
catkin_make
source devel/setup.bash
rospack profile

首先需要安装一些必要的软件包。直接执行下面的命令进行安装：

sudo apt-get install -y ros-indigo-turtlebot-bringup \
  ros-indigo-turtlebot-create-desktop ros-indigo-openni-* \
  ros-indigo-openni2-* ros-indigo-freenect-* ros-indigo-usb-cam \
  ros-indigo-laser-* ros-indigo-hokuyo-node \
  ros-indigo-audio-common gstreamer0.10-pocketsphinx \
  ros-indigo-pocketsphinx ros-indigo-slam-gmapping \
  ros-indigo-joystick-drivers python-rosinstall \
  ros-indigo-orocos-kdl ros-indigo-python-orocos-kdl \
  python-setuptools ros-indigo-dynamixel-motor-* \
  libopencv-dev python-opencv ros-indigo-vision-opencv \
  ros-indigo-depthimage-to-laserscan \
  ros-indigo-turtlebot-teleop ros-indigo-move-base \
  ros-indigo-map-server ros-indigo-fake-localization \
  ros-indigo-amcl

可视化工具安装

rviz :The ROS Visualization Tool ，即机器人操作系统3D可视化工具。它的作用就是：一个虚拟世界，用来模拟机器人在现实世界的运行效果。简单的说它就是ROS的一个模拟器软件。
新开一个终端，执行下面的命令：

sudo apt-get install ros-indigo-arbotix-*

Turtlebot包安装

apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs