ubuntu18.04系统下安装turtlebot2.md

ubuntu 18.04系统下安装turtlebot2

先完成ROS melodic安装

安装依赖：

$ 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 

新建工作空间，准备相关包

$ 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/ros-perception/depthimage_to_laserscan.git 
$ git clone https://github.com/yujinrobot/kobuki_msgs.git 
$ 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 

复制kobuki和yujin_ocs依赖库到turtlebot_ws/src工作空间下

$ 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/ 

编译工作空间

$ cd ~/turtlebot_ws 
$ catkin_make 

遇到问题：

解决方法：orocos-bfl没有安装。

sudo apt-get install ros-melodic-bfl

注意自己ros版本的选择。安装后再catkin_make。

添加工作空间到bashrc文件

echo "source ~/turtlebot_ws/devel/setup.bash" >> ~/.bashrc 
source ~/.bashrc 

测试

roslaunch turtlebot_bringup minimal.launch 

问题：cannot launch node of type [laptop_battery_monitor/laptop_battery.py]: laptop_battery_monitor

解决：

sudo apt-get install ros-melodic-laptop-battery-monitor 
roslaunch turtlebot_teleop keyboard_teleop.launch