Build up a personal ROS-1 based Turtlebot3 Robot tracking control experiment system.
余的个人ROS-TURTLEBOT3 实验环境搭建方案
please make a u-disk system.
ubuntu official web:
https://ubuntu.com/download
udisk software:
1.rufus
2.UltralISO
TsingHua website：
https://mirror.tuna.tsinghua.edu.cn/help/ubuntu/
replace codes as following:
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb http://security.ubuntu.com/ubuntu/ focal-security main restricted universe multiverse
# deb-src http://security.ubuntu.com/ubuntu/ focal-security main restricted universe multiverse
# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
# # deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-proposed main restricted universe multiverse
direction: /etc/apt/sources.list
$ sudo apt-get update
在ubuntu20.04下安装Noetic版本ROS:
添加ros源, 使用清华源:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'
增加key:
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
安装ros:
sudo apt install ros-noetic-desktop-full
把ros环境加载脚本添加到bashrc
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
安装rosdep
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
添加清华源:
echo "export ROSDISTRO_INDEX_URL=https://mirrors.tuna.tsinghua.edu.cn/rosdistro/index-v4.yaml" >> ~/.bashrc
更新 rosdep
sudo rosdep init
rosdep update
或来自中国的源:
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
根据很多2020年之前的资料，安装ROS后第一件事情是rosdep init， 但是2020年之后，这个指令不再有效。
我们根据最新情况，调整安装方案。
输入指令：升级rosdep
rosdep update
显示如下信息：
there is no rosdep command
rosdep init error:
fix: rosdep失效的解决方法 replace website
sudo vim /etc/hosts
added following in last line:
185.199.108.133 www.githubusercontent.com
sudo apt install python3-rosdep2
重新安装部分ROS reinstall some part of ROS:
sudo apt --fix-broken install
sudo apt install ros-noetic-desktop-full
由于turtlebot2 主要在indigo 系统,现已不再更新。本项目先择turtlebot3：
sudo apt install python3-rosinstall
sudo apt install python3-rosinstall-generator
sudo apt install python3-wstool
sudo apt install build-essential
sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc ros-noetic-rgbd-launch ros-noetic-depthimage-to-laserscan ros-noetic-rosserial-arduino ros-noetic-rosserial-python ros-noetic-rosserial-server ros-noetic-rosserial-client ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro ros-noetic-compressed-image-transport ros-noetic-rqt-image-view ros-noetic-gmapping ros-noetic-navigation ros-noetic-interactive-markers
在工作空间：catkin_ws/src 地址下，输入以下Yu从 ROBITICS-GIT 克隆的安装包：
git clone https://githubfast.com/yuzhenning/turtlebot3_msgs.git
git clone https://githubfast.com/yuzhenning/turtlebot3.git
git clone https://githubfast.com/yuzhenning/turtlebot3_simlulations.git
小Tips:
github网速不好，经常掉线。需要多尝试几次。
其实这个方法是非常的简单，无需安装任何工具，毕竟也不合法，只需要在网址上添加fast关键词就可以！
比如要访问 http://githubfast.com，那么只需要在github后面加上fast就可以，也就是 githubfast.com，那么就能正常访问。
git clone https://githubfast.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://githubfast.com/ROBOTIS-GIT/turtlebot3.git
git clone https://githubfast.com/ROBOTIS-GIT/turtlebot3_simlulations.git
git-clone pkg 之后注意，需要更新工作空间，用以下命令：
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws/
catkin_make
之后会出一批结果，直到100%
搭建基于Turtlebot3 的仿真环境
直接安装相关pkg
sudo apt-get install -y
ros-noetic-navigation
ros-noetic-teb-local-planner*
ros-noetic-ros-control
ros-noetic-ros-controllers
ros-noetic-gazebo-ros-control
ros-noetic-ackermann-msgs
ros-noetic-serial
ros-noetic-effort-controllers
ros-noetic-joint-state-controller
ros-noetic-tf2-ros
ros-noetic-tf
从 github 克隆 simulation 包
cd ~/catkin_ws/src/
git clone https://githubfast.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/catkin_ws
catkin_make
测试Gazebo仿真环境
单一tb3 模型仿真环境
roslaunch turtlebot3_gazebo turtlebot3_house.launch
TB3自动控制仿真套件
1.键盘控制：
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
2.Gazebo仿真环境：
roslaunch turtlebot3_gazebo turtlebot3_world.launch
3.启动simulation包：
roslaunch turtlebot3_gazebo turtlebot3_simulation.launch
4.启动rviz仿真：
roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch
tips: 电脑系统硬件监控
gnome-system-monitor
ROS-MATLAB TB3 机器人运动仿真环境配置：
env | grep ROS
设置ROS工作网络.
sudo gedit ~/.bashrc
打开文件，在最后输入tb3机器人信息和ros工作空间信息：
source /opt/ros/noetic/setup.bash
source /home/[用户名]/catkin_ws/devel/setup.bash
export TURTLEBOT3_MODEL=burger
同时，输入以下内容，定义具体 ip 到变量：ros_hostname
export ROS_HOSTNAME=[本机ip]
或
export ROS_HOSTNAME=localhost
再定义 rosmaster 和 rosip 信息
export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311
这里，本机ip用以下命令 ifconfig 查询：