Ubunru 16.04 kinetic 下安裝turtlebot2

默認安裝Ubuntu16.04以及ROS kinetic

防止忘記.

1. 準備工做:

$ sudo apt-get install python-rosdep python-wstool ros-kinetic-ros
$ sudo rosdep init
$ rosdep update

2. 分別創建三個工做空間rocon，kobuki，turtlebot，下載和編譯源碼

(1) roncon

若是遇到"/bin/sh: 1: pyrcc5: not found rocon_qt_gui"錯誤
則運行:
sudo apt-get install pyqt5-dev-tool$ 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

(2) kobuki

$ mkdir ~/kobuki
$ cd ~/kobuki
$ wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/kobuki.rosinstall 
$ vim kobuki.rosinstall #參照kobuki.rosinstall文件內容，修改後在進行。

修改成:

##############################################################################
#
# If no debs, overlay on top of the rocon and ecl rosinstallers.
#
##############################################################################
# Kobuki / Yujin stacks

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

- 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'}

#- git: {local-name: capabilities, version: master, uri: 'https://github.com/osrf/capabilities.git'} #- git: {local-name: std_capabilities, version: master, uri: 'https://github.com/osrf/std_capabilities.git'}- 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'}

$ wstool init src -j5 kobuki.rosinstall #若是找不到kobuki.rosinstall,自行在其餘文件夾中找一下
$ source ~/rocon/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_makekobuki.rosinstall

(3) turtlebot

$ mkdir ~/turtlebot
$ cd ~/turtlebot
$ wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall
$ vim turtlebot.rosinstall #參照turtlebot.rosinstall文件內容，修改後在進行。

修改成:

##############################################################################
#
# If no debs, overlay on top of the kobuki, rocon and ecl rosinstallers. # ############################################################################## #- 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: indigo, 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: indigo, uri: 'https://github.com/turtlebot/turtlebot_create_desktop.git'}
 - 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'}

$ wstool init src -j5 turtlebot.rosinstall #若是找不到turtlebot.rosinstall,自行在其餘文件夾中找一下
$ source ~/kobuki/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make若是找不到turtlebot.rosinstall,自行在其餘文件夾中找一下turtlebot.rosinstall