ubuntu16.04安装turtlebot2,kinect v1说明 - Something TO DO

ubuntu16.04安装turtlebot2,kinect v1说明

Something TO DO posted @ 2018年1月25日 14:23 in ROS with tags ubuntu16.04 turtlebot2 kinect v1 , 3751 阅读

 

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kinect12V 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。

 

4ros-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)

  1. 打开Turtlebot开关,状态点亮。

  2. 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 
  1. 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
  1. 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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