Turtlebot3 Ubuntu18.04 安装ROS2 Dashing

 设置UTF-8编码

sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

　

更新软件源

sudo apt update && sudo apt install curl gnupg2 lsb-release
curl http://repo.ros2.org/repos.key | sudo apt-key add -
sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

　　

安装ROS2

sudo apt install ros-dashing-desktop

　　

 安装依赖包

安装编译工具Colcon

sudo apt install python3-colcon-common-extensions

　　

curl -sSL http://get.gazebosim.org | sh

　　

sudo apt remove gazebo11 libgazebo11-dev
sudo apt install gazebo9 libgazebo9-dev
sudo apt install ros-dashing-gazebo-ros-pkgs

　　

sudo apt install ros-dashing-cartographer
sudo apt install ros-dashing-cartographer-ros

　　

sudo apt install ros-dashing-navigation2
sudo apt install ros-dashing-nav2-bringup

　　

sudo apt install python3-vcstool

　

 安装Turtlebot3包

cd ~/colcon_ws/src/
git clone -b dashing-devel https://gitee.com/kay2020/DynamixelSDK.git
git clone -b dashing-devel https://gitee.com/kay2020/turtlebot3_msgs.git
git clone -b dashing-devel https://gitee.com/kay2020/turtlebot3.git
colcon build --symlink-install

　　

机器人端编译指令

colcon build --symlink-install --parallel-workers 1

　　

安装雷达包

sudo apt install ros-dashing-hls-lfcd-lds-driver

　　

其他包

sudo apt install python3-argcomplete python3-colcon-common-extensions libboost-system-dev build-essential

　　

 OpenCR USB端口设置

sudo cp `ros2 pkg prefix turtlebot3_bringup`/share/turtlebot3_bringup/script/99-turtlebot3-cdc.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules
sudo udevadm trigger

　　

 配置环境变量

echo 'source ~/colcon_ws/install/setup.bash' >> ~/.bashrc
echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
source ~/.bashrc

　　

一键脚本

#!/bin/bash
# Apache License 2.0
# Copyright (c) 2019, ROBOTIS CO., LTD.

echo ""
echo "[Note] OS version  >>> Ubuntu 18.04 (Bionic Beaver) or Linux Mint 19.x"
echo "[Note] Target ROS version >>> ROS 2 Dashing Diademata"
echo "[Note] Colcon workspace   >>> $HOME/colcon_ws"
echo ""
echo "PRESS [ENTER] TO CONTINUE THE INSTALLATION"
echo "IF YOU WANT TO CANCEL, PRESS [CTRL] + [C]"
read

echo "[Set the target ROS version and name of colcon workspace]"
name_ros_version=${name_ros_version:="dashing"}
name_colcon_workspace=${name_colcon_workspace:="colcon_ws"}

echo "[Setup Locale]"
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

echo "[Setup Sources]"
sudo rm -rf /var/lib/apt/lists/* && sudo apt update && sudo apt install -y curl gnupg2 lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null'

echo "[Install ROS 2 packages]"
sudo apt update && sudo apt install -y ros-$name_ros_version-desktop

echo "[Environment setup]"
source /opt/ros/$name_ros_version/setup.sh
sudo apt install -y python3-argcomplete python3-colcon-common-extensions python3-vcstool git

echo "[Make the colcon workspace and test colcon build]"
mkdir -p $HOME/$name_colcon_workspace/src
cd $HOME/$name_colcon_workspace
colcon build --symlink-install

echo "[Set the ROS evironment]"
sh -c "echo \"alias nb='nano ~/.bashrc'\" >> ~/.bashrc"
sh -c "echo \"alias sb='source ~/.bashrc'\" >> ~/.bashrc"
sh -c "echo \"alias gs='git status'\" >> ~/.bashrc"
sh -c "echo \"alias gp='git pull'\" >> ~/.bashrc"

sh -c "echo \"alias cw='cd ~/$name_colcon_workspace'\" >> ~/.bashrc"
sh -c "echo \"alias cs='cd ~/$name_colcon_workspace/src'\" >> ~/.bashrc"
sh -c "echo \"alias cb='cd ~/$name_colcon_workspace && colcon build --symlink-install && source ~/.bashrc'\" >> ~/.bashrc"

sh -c "echo \"source /opt/ros/$name_ros_version/setup.bash\" >> ~/.bashrc"
sh -c "echo \"source ~/$name_colcon_workspace/install/local_setup.bash\" >> ~/.bashrc"

exec bash

echo "[Complete!!!]"
exit 0