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 , 3800 阅读


2018-1-10 系统安装





2,安装ROS Kinetic


2018-1-11 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。





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





sudo apt-get install pyqt4-dev-tools

sudo apt-get install pyqt5-dev-tools


cd ~/catkin_ws/






  • 启动ros



  • 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



  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。


sudo apt-get install ros-kinetic-openni-* ros-kinetic-openni2-* ros-kinetic-freenect-*


roslaunch freenect_launch freenect.launch


rosrun image_view image_view image:=/camera/rgb/image_raw


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