PS:首先附上參考文章的連結-樹莓派ubuntu mate或其他ubuntu16.04安裝ROS(Kinetic)。
前面的安裝ROS-Kinetic步驟完全一致,步驟1~7摘抄在下面。
中科大源:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get upgrade
sudo apt-get install ros-kinetic-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
到此,ROS-Kinetic安裝完畢,下面安裝Turtlebot2依賴項以及測試:
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
首先,將電腦和turtlebot用連線線連線,開啟turtlebot的開關。
開啟一個終端輸入:
roslaunch turtlebot_bringup minimal.launch
再開啟一個終端,輸入:
roslaunch turtlebot_teleop keyboard_teleop.launch
然後在此終端便可以控制turtlebot的運動,控制方向的按鍵有
u:向左前行駛 | i:向前行駛 | u:向右前行駛 |
---|---|---|
j:原地向左轉向 | l:原地向右轉向 | |
m:向左後行駛 | ,:向後行駛 | 。:向右後行駛 |