turtlebot 源码安装
在安装turtlebot之前本教程假定你已经正确安装了ros-kinetic-desktop-full
1、安装准备
sudo apt-get install python-rosdep python-wstool ros-kinetic-ros
sudo rosdep init
rosdep update
注：rosdep init命令执行失败，无法找到源的错误修复
在一些arm平台上安装ros系统可能出现执行rosdep不成功的错误：
root@93885206a51a:/# rosdep init
ERROR: cannot download default sources list from:
https://raw.github.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.
第一步：
sudo apt-get install ca-certificates -q
第二步：
sudo c_rehash /etc/ssl/certs
第三步：
sudo rosdep init
第四步：
rosdep update
2、源码编译安装
在用户主目录分别创建rocon、kobuki、turtlebot三个目录下载和编译源码
1>创建rocon目录下载并编译源码，rocon有kinetic对应源码
mkdir ~/rocon
cd ~/rocon
wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/release/kinetic/rocon.rosinstall
source /opt/ros/kinetic/setup.bash
rosdep install --from-paths src -i -y
catkin_make
2>创建kobuki目录下载并编译源码
kobuki使用kinetic的版本下载会失败，先用indigo版本生成下载的rosinstall文件，再修改对应包为 kinetic版本
mkdir ~/kobuki
cd ~/kobuki
wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/kobuki.rosinstall
vim kobuki.rosinstall #参照kobuki.rosinstall文件内容，修改后在进行
wstool init src -j5 kobuki.rosinstall
source ~/rocon/devel/setup.bash
rosdep install --from-paths src -i -y
catkin_make
kobuki.rosinstall 文件为：
git: {local-name: yocs_msgs, version: release/0.6-kinetic, uri: ‘https://github.com/yujinrobot/yocs_msgs.git‘}
git: {local-name: yujin_ocs, version: kinetic, uri: ‘https://github.com/yujinrobot/yujin_ocs.git‘}
git: {local-name: kobuki_msgs, version: kinetic, uri: ‘https://github.com/yujinrobot/kobuki_msgs.git‘}
git: {local-name: kobuki_core, version: kinetic, uri: ‘https://github.com/yujinrobot/kobuki_core.git‘}
git: {local-name: kobuki, version: kinetic, uri: ‘https://github.com/yujinrobot/kobuki.git‘}
git: {local-name: kobuki_desktop, version: kinetic, uri: ‘https://github.com/yujinrobot/kobuki_desktop.git‘}
3>建立turtlebot目录，下载并编译
turtlebot使用kinetic的版本下载会失败，先用indigo版本生成下载的rosinstall文件，再修改对应包为kinetic版本，没有kinetic版本的保持为indigo版本
mkdir ~/turtlebot
cd ~/turtlebot
wget https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall
vim turtlebot.rosinstall #参照turtlebot.rosinstall文件内容，修改后在进行。
wstool init src -j5 turtlebot.rosinstall
source ~/kobuki/devel/setup.bash
rosdep install --from-paths src -i -y
catkin_make
turtlebot.rosinstall文件内容:
- git: {local-name: turtlebot_msgs, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_msgs.git'}
- git: {local-name: turtlebot_create, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_create.git'}
- git: {local-name: turtlebot, version: kinetic, uri: 'https://github.com/turtlebot/turtlebot.git'}
- git: {local-name: turtlebot_apps, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_apps.git'}
- git: {local-name: turtlebot_interactions, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_interactions.git'}
- git: {local-name: turtlebot_simulator, version: indigo, uri: 'https://github.com/turtlebot/turtlebot_simulator.git'}
- git: {local-name: turtlebot_create_desktop, version: kinetic, uri: 'https://github.com/turtlebot/turtlebot_create_desktop.git'}
3、生成kobuki别名
rosrun kobuki_ftdi create_udev_rules
4、配置网络并添加环境变量
turtlebot主机端
echo export ROS_MASTER_URI=http://IP_OF_TURTLEBOT:11311 >> ~/turtlebot/devel/setup.sh
echo export ROS_HOSTNAME=IP_OF_TURTLEBOT >> ~/turtlebot/devel/setup.sh
添加配置脚本
vim ~/.bashrc
在文件中添加：
source /opt/ros/kinetic/setup.bash
source ~/rocon/devel/setup.bash
source ~/kobuki/devel/setup.bash
source ~/turtlebot/devle/setup.bash