TurtleBot3例程小總結
阿新 • • 發佈：2018-12-17
遠端終端
[turtleBot3]
sudo apt-get install ssh
sudo raspi-config
#選擇 Interfacing Options
#導航並選擇SSH
#選擇Yes
#選擇OK
#選擇Finish
[PC]
ssh couny(usrName)@IP_OF_TurtleBot3
輸入密碼就OK.
PC 端安裝TurtleBot3
安裝turtlebot3依賴包： sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers
安裝turtlebot3原始碼：
cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
cd ~/catkin_ws && catkin_make
環境設定：
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
Turtlebot3-waffle_pi網路設定
時間同步：
#主從分別安裝chrony sudo apt-get install chrony #主從分別安裝ntpdate sudo apt-get install ntpdate #主從分別同步時間 sudo ntpdate ntp.ubuntu.com # 檢測時間是否同步 date
ROS需要IP地址在turtlebot和遠端PC之間進行通訊，要求在同一個wifi區域網下。分別在turtlebot和PC，執行如下命令獲得對應的IP地址：
ifconfig
#修改.bashrc
gedit ~/.bashrc
TURTLEBOT配置如下：
export ROS_MASTER_URI=http://IP_OF_PC:11311
export ROS_HOSTNAME=IP_OF_TURTLEBOT
PC配置如下：
export ROS_MASTER_URI=http://IP_OF_PC:11311
export ROS_HOSTNAME=IP_OF_PC
ROS_MASTER <roscore請大師！> PC端。 讓環境生效：
source ~/.bashrc
Turtlebot3-waffle_pi-雷達安裝
[Remote PC]安裝驅動
sudo apt-get install ros-kinetic-hls-lfcd-lds-driver
[TurtelBot]設定許可權
sudo chmod a+rw /dev/ttyUSB0
[Remote PC]增加view_laser.launch，用於顯示鐳射雷達
roscd hls_lfcd_lds_driver
cd launch
sudo vim view_laser.launch
內容如下：
<launch>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find hls_lfcd_lds_driver)/rviz/hlds_laser.rviz" />
</launch>
測試： [TurtelBot] 啟動雷達
roslaunch hls_lfcd_lds_driver hlds_laser.launch
[Remote PC] 啟動rviz
roslaunch hls_lfcd_lds_driver view_laser.launch
串列埠許可權問題 1、檢測串列埠
ls -l /dev |grep ttyUSB
2、賦予許可權
sudo chmod 666 /dev/ttyUSB0
3、在編譯的ROS包中執行launch檔案
roslaunch rplidar_ros view_rplidar.launch
Turtlebot3-waffle_pi安裝樹莓派v2攝像頭
[TurtleBot] 在樹莓派上進行攝像頭設定： sudo raspi-config =>進入圖形介面Tab、空格、enter鍵選擇。
- 選擇 3 Interfacing Options
- 選擇 P1 Camera
- Enable camera interface
[TurtleBot] 設定完之後測試以下是否能正常使用，輸入以下以下命令，正常情況下樹莓派系統的桌面上會生成一張攝像頭捕捉到的影象。
raspistill -v -o test.jpg
[TurtleBot] 安裝ros驅動包
cd ~/catkin_ws/src
git clone https://github.com/UbiquityRobotics/raspicam_node.git
sudo apt-get install ros-kinetic-compressed-image-transport ros-kinetic-camera-info-manager
gedit /etc/ros/rosdep/sources.list.d/30-ubiquity.list
新增下面這段話到 30-ubiquity.list 後儲存：
yaml https://raw.githubusercontent.com/UbiquityRobotics/rosdep/master/raspberry-pi.yaml
繼續
rosdep update
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
cd ~/catkin_ws && catkin_make
[TurtleBot] 執行raspicam節點
roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch
或者執行下面這條命令進行測試
roslaunch raspicam_node camerav2_1280x960.launch
[Remote PC] 執行以下命令
rqt_image_view
桌面出現顯示攝像頭即時內容的gui介面時，說明已成功安裝.
Turtlebot3-Cartographer-turtlebot 安裝
庫安裝 推薦使用rosdep.但更快安裝推薦使用Ninja. 安裝依賴：
sudo apt-get install -y google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx ros-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev
安裝步驟：
#Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep ninja-build
#Create a new workspace in 'cartographer_ws'.
mkdir cartographer_ws
cd cartographer_ws
wstool init src
Merge the cartographer_turtlebot.rosinstall file and fetch code for dependencies.
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall
gedit src/.rosinstall
#更改ceres-solver中地址改為下面的地址：
#>>uri: https://github.com/ceres-solver/ceres-solver.git
wstool update -t src
#Install deb dependencies.
rosdep update
#install proto3
src/cartographer/scripts/install_proto3.sh
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
#Build and install.
catkin_make_isolated --install --use-ninja -j1
source install_isolated/setup.bash
#新增到.bashrc
echo "source ~/cartographer_ws/install_isolated/setup.bash" >> ~/.bashrc
Turtlebot3-waffle_pi建圖
[Remote PC] 開啟終端，然後執行SLAM啟動檔案和rviz
source devel/setup.bash
#<cartographer建圖>
echo "source ~/cartographer_ws/install_isolated/setup.bash" >> ~/.bashrc
# <cartographer建圖>
source install_isolated/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
#<!-- SLAM: Gmapping, Cartographer, Hector, Karto, Frontier_exploration, RTAB-Map -->
[Remote PC] 啟動鍵盤操作
source devel/setup.bash
export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
[Remote PC] 開啟終端，然後執行地圖儲存節點
rosrun map_server map_saver -f ~/map
#map.pgm和map.yaml 在 ~/ 目錄裡建立