ubuntu16.04安装turtlebot2,kinect v1说明 - Something TO DO
ubuntu16.04安装turtlebot2,kinect v1说明
2018-1-10 系统安装
安装教程：参考http://wiki.ros.org/kinetic/Installation/Ubuntu安装即可
1,安装linux16.04系统
2,安装ROS Kinetic
2018-1-11 Turtlebot安装
Turtlebot安装
1）硬件连接示意图，硬件连接接口都有防误插，连接到kobuki上的如图所示，一个为kinect的12V 5A供电接口，一个为与计算机通信的USB接口。
2）需要安装相应的源，可以参考indigo版本的安装说明，http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation，操作基本类似，名称需要相应的改为kinetic版本，还有安装的依赖项不同。
3）打开终端，运行如下命令:
sudo apt-get update sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-kobuki-ftdi ros-kinetic-ar-track-alvar-msgs ros-kinetic-turtlebot-simulator
以上为indigo版本安装参考中的大部分kinetic版本对应的软件源，还有ros-kinetic-rocon-remocon ros-kinetic-rocon-qt-library没有安装，如果尝试安装会提示无法定位软件源，因此需要手动安装。
4）ros-kinetic-rocon-remocon ros-kinetic-rocon-qt-library无法定位软件源，手动安装，使用git下载软件源码到ros工作目录catkin_ws/src/下（创建方法参考http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment），等待编译。
git clone https://github.com/robotics-in-concert/rocon_qt_gui.git
5）下载完成，在编译之前需要添加编译依赖资源，pyrcc5,pyrcc4，因此手动安装这两个依赖项，
sudo apt-get install pyqt4-dev-tools sudo apt-get install pyqt5-dev-tools
然后编译该工作目录
cd ~/catkin_ws/ catkin_make
至此，Turtlebot就成功安装。
6）检查别名：
-
启动ros：
roscore
-
输入检测命令：
ls /dev/kobuki
-
会显示有对应的设备
/dev/kobuki -
如果没有，添加别名：
rosrun kobuki_ftdi create_udev_rules
-
重插USB线，在进行上述的检测命令
7）通过遥控移动（仅TurtleBot，通过Turtlebot的上网本操作）
-
打开Turtlebot开关，状态点亮。
-
启动Turtlebot，在上网本，打开一个新终端，运行如下命令：
roslaunch turtlebot_bringup minimal.launch
-
启动键盘遥控，在上网本，打开另一个新终端，运行如下命令：
roslaunch turtlebot_teleop keyboard_teleop.launch
-
点击键盘“i”前进。
8）安装Kinect驱动
sudo apt-get install ros-kinetic-openni-* ros-kinetic-openni2-* ros-kinetic-freenect-*
运行kinect
roslaunch freenect_launch freenect.launch
运行image_view
rosrun image_view image_view image:=/camera/rgb/image_raw
，这样应该就能看到kinect显示的图像。
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