Install ros kinetic and turtlebot dependency packages on Ubuntu16.04
1. First, after the Ubuntu16.04 system is installed, change the source first. There is no need to write anything with vim. Just select the software update and installation from the setting in the upper right corner of the system, and click to select the source you like. It is recommended The source of Tsinghua University and HKUST.
2. Change the source to update the software, press Ctrl+Alt+t to open the terminal, and enter the following two commands respectively:
$ sudo apt-get update
$ sudo apt-get upgrade
PS: Do not copy $, which means to run these two instructions in the main directory
3. Install according to the official installation tutorial on the wiki. The steps to install kinetic
http://wiki.ros.org/cn/kinetic/Installation/Ubuntu
on Ubuntu 16.04 are PS: Different versions of Ubuntu systems have their corresponding versions of ros, which correspond to the following:
| Ubuntu version book | ros version |
|---|---|
| Ubuntu18.04 | melodic |
| Ubuntu16.04 | kinetic |
| Ubuntu14.04 | indigo |
| Ubuntu12.04 | hydro |
If it is Raspbian, which comes with Raspberry Pi, it is recommended to install the kinetic version. The installation tutorial can refer to
https://blog.csdn.net/qq_22945165/article/details/101725738
PS: The problems encountered when installing using this Raspberry Pi tutorial will be described in the next blog.
The installation steps of different versions of Ubuntu systems can be viewed in 2. Document-Installation in Ros WiKi .
4. After installing ros, execute the following instructions to install turtlebot dependent packages.
sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-actions ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-bringup ros-kinetic-turtlebot-calibration ros-kinetic-turtlebot-capabilities ros-kinetic-turtlebot-create ros-kinetic-turtlebot-dashboard ros-kinetic-turtlebot-description ros-kinetic-turtlebot-follower ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-interactive-markers ros-kinetic-turtlebot-loadout-kha1 ros-kinetic-turtlebot-msgs ros-kinetic-turtlebot-navigation ros-kinetic-turtlebot-rapps ros-kinetic-turtlebot-rviz-launchers ros-kinetic-turtlebot-simulator ros-kinetic-turtlebot-stage ros-kinetic-turtlebot-stdr ros-kinetic-turtlebot-teleo
Generally speaking, the installation is successful after the above operations. If there is a problem related to the source, execute the following command:
source /opt/ros/kinetic/setup.bash
At this point, the environment is set up, and turtlebot can be tested and used.
5. Turtlebot2 test
First, connect the computer and turtlebot with a cable, and turn on the switch of turtlebot.
Open a terminal and type
roslaunch turtlebot_bringup minimal.launch
Open another terminal and type
roslaunch turtlebot_teleop keyboard_teleop.launch
Then you can control the movement of turtlebot in this terminal, and the buttons to control the direction are
| u: drive forward left | i: drive forward | u: drive forward right |
|---|---|---|
| j: Turn left in place | l: Turn right in place | |
| m: Drive left and rear | ,: Drive backward | . : Drive right back |
Install the tutorial to this location. Here is a recommended website for learning turtlebot2:
https://www.ncnynl.com/archives/201609/793.html
PS: The installation is recommended to follow the ros wiki, there are fewer problems.