Turtlebot入门教程-安装Turtlebot(ubuntu18.04+Melodic)

最开始听的是田博老师的课，但是上课时的版本是kinetic，我的却是melodic，当我试图通过修改某些关键字来安装时，却无法定位软件包，所以我在网上搜索了一下相关教程，现总结纠错分享如下，希望大家能够享受ROS的快乐！以下代码直接复制整体粘贴到命令行中即可（PS：命令行粘贴是Ctrl+Shift+V）

sudo apt-get install ros-melodic-kobuki-*
sudo apt-get install ros-melodic-ecl-streams
sudo apt-get install libusb-dev
sudo apt-get install libspnav-dev
sudo apt-get install ros-melodic-joystick-drivers
sudo apt-get install bluetooth
sudo apt-get install libbluetooth-dev
sudo apt-get install libcwiid-dev
sudo apt-get install ros-melodic-move-base*
sudo apt-get install ros-melodic-map-server*
sudo apt-get install ros-melodic-amcl*
sudo apt-get install ros-melodic-navigation*
sudo apt-get install ros-melodic-bfl  #这个是我自己加的原来的教程里面没有，缺少了这个的话，当编译到%42的时候会报错
cd /lib/aarch64-linux-gnu  #后面这些有的并不是必须的，但是我安装了这些之后编译才通过，希望大神们指点
sudo ln -s /usr/local/lib/libopencv_aruco.so.3.2.0  libopencv_aruco.so.3.2.0            
sudo ln -s /usr/local/lib/libopencv_cudaimgproc.so.3.2.0   libopencv_cudaimgproc.so.3.2.0 
sudo ln -s /usr/local/lib/libopencv_flann.so.3.2.0    libopencv_flann.so.3.2.0         
sudo ln -s /usr/local/lib/libopencv_phase_unwrapping.so.3.2.0  libopencv_phase_unwrapping.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_surface_matching.so.3.2.0 libopencv_surface_matching.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_bgsegm.so.3.2.0  libopencv_bgsegm.so.3.2.0         
sudo ln -s /usr/local/lib/libopencv_cudalegacy.so.3.2.0  libopencv_cudalegacy.so.3.2.0    
sudo ln -s /usr/local/lib/libopencv_freetype.so.3.2.0  libopencv_freetype.so.3.2.0       
sudo ln -s /usr/local/lib/libopencv_photo.so.3.2.0  libopencv_photo.so.3.2.0           
sudo ln -s /usr/local/lib/libopencv_text.so.3.2.0 libopencv_text.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_bioinspired.so.3.2.0  libopencv_bioinspired.so.3.2.0    
sudo ln -s /usr/local/lib/libopencv_cudaobjdetect.so.3.2.0  libopencv_cudaobjdetect.so.3.2.0  
sudo ln -s /usr/local/lib/libopencv_fuzzy.so.3.2.0      libopencv_fuzzy.so.3.2.0       
sudo ln -s /usr/local/lib/libopencv_plot.so.3.2.0     libopencv_plot.so.3.2.0         
sudo ln -s /usr/local/lib/libopencv_videoio.so.3.2.0 libopencv_videoio.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_calib3d.so.3.2.0   libopencv_calib3d.so.3.2.0       
sudo ln -s /usr/local/lib/libopencv_cudaoptflow.so.3.2.0    libopencv_cudaoptflow.so.3.2.0 
sudo ln -s /usr/local/lib/libopencv_hdf.so.3.2.0     libopencv_hdf.so.3.2.0          
sudo ln -s /usr/local/lib/libopencv_reg.so.3.2.0    libopencv_reg.so.3.2.0            
sudo ln -s /usr/local/lib/libopencv_video.so.3.2.0  libopencv_video.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_ccalib.so.3.2.0   libopencv_ccalib.so.3.2.0        
sudo ln -s /usr/local/lib/libopencv_cudastereo.so.3.2.0   libopencv_cudastereo.so.3.2.0   
sudo ln -s /usr/local/lib/libopencv_highgui.so.3.2.0      libopencv_highgui.so.3.2.0     
sudo ln -s /usr/local/lib/libopencv_rgbd.so.3.2.0      libopencv_rgbd.so.3.2.0        
sudo ln -s /usr/local/lib/libopencv_videostab.so.3.2.0   libopencv_videostab.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_core.so.3.2.0    libopencv_core.so.3.2.0         
sudo ln -s /usr/local/lib/libopencv_cudawarping.so.3.2.0  libopencv_cudawarping.so.3.2.0   
sudo ln -s /usr/local/lib/libopencv_imgcodecs.so.3.2.0   libopencv_imgcodecs.so.3.2.0      
sudo ln -s /usr/local/lib/libopencv_saliency.so.3.2.0    libopencv_saliency.so.3.2.0       
sudo ln -s /usr/local/lib/libopencv_viz.so.3.2.0   libopencv_viz.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_cudaarithm.so.3.2.0   libopencv_cudaarithm.so.3.2.0    
sudo ln -s /usr/local/lib/libopencv_cudev.so.3.2.0    libopencv_cudev.so.3.2.0        
sudo ln -s /usr/local/lib/libopencv_imgproc.so.3.2.0   libopencv_imgproc.so.3.2.0        
sudo ln -s /usr/local/lib/libopencv_shape.so.3.2.0    libopencv_shape.so.3.2.0          
sudo ln -s /usr/local/lib/libopencv_xfeatures2d.so.3.2.0  libopencv_xfeatures2d.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_cudabgsegm.so.3.2.0   libopencv_cudabgsegm.so.3.2.0    
sudo ln -s /usr/local/lib/libopencv_datasets.so.3.2.0     libopencv_datasets.so.3.2.0   
sudo ln -s /usr/local/lib/libopencv_line_descriptor.so.3.2.0   libopencv_line_descriptor.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_stereo.so.3.2.0      libopencv_stereo.so.3.2.0       
sudo ln -s /usr/local/lib/libopencv_ximgproc.so.3.2.0    libopencv_ximgproc.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_cudacodec.so.3.2.0    libopencv_cudacodec.so.3.2.0     
sudo ln -s /usr/local/lib/libopencv_dpm.so.3.2.0      libopencv_dpm.so.3.2.0        
sudo ln -s /usr/local/lib/libopencv_ml.so.3.2.0     libopencv_ml.so.3.2.0            
sudo ln -s /usr/local/lib/libopencv_stitching.so.3.2.0  libopencv_stitching.so.3.2.0         
sudo ln -s /usr/local/lib/libopencv_xobjdetect.so.3.2.0 libopencv_xobjdetect.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_cudafeatures2d.so.3.2.0  libopencv_cudafeatures2d.so.3.2.0 
sudo ln -s /usr/local/lib/libopencv_face.so.3.2.0   libopencv_face.so.3.2.0          
sudo ln -s /usr/local/lib/libopencv_objdetect.so.3.2.0    libopencv_objdetect.so.3.2.0     
sudo ln -s /usr/local/lib/libopencv_structured_light.so.3.2.0  libopencv_structured_light.so.3.2.0  
sudo ln -s /usr/local/lib/libopencv_xphoto.so.3.2.0 libopencv_xphoto.so.3.2.0
sudo ln -s /usr/local/lib/libopencv_cudafilters.so.3.2.0    libopencv_cudafilters.so.3.2.0   
sudo ln -s /usr/local/lib/libopencv_features2d.so.3.2.0    libopencv_features2d.so.3.2.0 
sudo ln -s /usr/local/lib/libopencv_optflow.so.3.2.0    libopencv_optflow.so.3.2.0       
sudo ln -s /usr/local/lib/libopencv_superres.so.3.2.0     libopencv_superres.so.3.2.0 

mkdir -p ~/turtlebot_ws/src 
cd ~/turtlebot_ws/src 

git clone https://github.com/turtlebot/turtlebot_simulator
git clone https://github.com/turtlebot/turtlebot.git
git clone https://github.com/turtlebot/turtlebot_apps.git
git clone https://github.com/udacity/robot_pose_ekf
git clone https://github.com/yujinrobot/kobuki_msgs.git
git clone https://github.com/ros-perception/depthimage_to_laserscan.git #需要依赖opencv3.2
git clone https://github.com/yujinrobot/kobuki_desktop.git

cd kobuki_desktop/
rm -r kobuki_qtestsuite
git clone https://github.com/toeklk/orocos-bayesian-filtering.git
git clone https://github.com/turtlebot/turtlebot_msgs.git
git clone https://github.com/ros-drivers/joystick_drivers.git
mkdir -p ~/repos/
cd ~/repos/
git clone https://github.com/yujinrobot/kobuki.git
cp -r kobuki/* ~/turtlebot_ws/src/
git clone https://github.com/yujinrobot/yujin_ocs.git
cp -r yujin_ocs/yocs_cmd_vel_mux/ yujin_ocs/yocs_controllers ~/turtlebot_ws/src/
cd ~/turtlebot_ws
catkin_make
cd  #一定要回到初始的目录才能看到.bashrc文件
echo "source ~/turtlebot_ws/devel/setup.bash --extend" >> ~/.bashrc
source ~/.bashrc 

开一个窗口

#启动turtlebot的rviz的仿真
roslaunch turtlebot_stage turtlebot_in_stage.launch 

再开一个新窗口

#启动键盘控制
roslaunch turtlebot_teleop keyboard_teleop.launch

#参考
https://www.ncnynl.com/archives/201903/2896.html
https://www.ncnynl.com/archives/201903/2884.html