ROS2与turtlebot4仿真入门教程-安装ROS2

 目录：

• ROS2与turtlebot4仿真入门教程-目录
• ROS2与turtlebot4仿真入门教程-安装ROS2
• ROS2与turtlebot4仿真入门教程-安装turtlebot4
• ROS2与turtlebot4仿真入门教程-turtlebot4遥控
• ROS2与turtlebot4仿真入门教程-测试雷达和相机
• ROS2与turtlebot4仿真入门教程-turtlebot4异步建图
• ROS2与turtlebot4仿真入门教程-turtlebot4同步建图
• ROS2与turtlebot4仿真入门教程-turtlebot4单点导航
• ROS2与turtlebot4仿真入门教程-turtlebot4多点导航
• ROS2与turtlebot4仿真入门教程-turtlebot4融合建图和导航

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说明：

• 介绍如何安装turtlebot4仿真环境

依赖安装

• 已经完成安装ROS2，如果没安装，参考上一篇文章的安装方式
• 安装系统依赖

sudo apt install -y \
python3-colcon-common-extensions \
python3-rosdep \
python3-vcstool

• 安装ignition

sudo apt-get update && sudo apt-get install wget
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update && sudo apt-get install ignition-edifice

APT步骤：

• 安装turtlebot4 simulator

sudo apt update
sudo apt install ros-galactic-turtlebot4-simulator ros-galactic-irobot-create-nodes

源码安装步骤：

• 新建工作空间

cd ~/ros2_tb4_ws/src
git clone https://github.com/turtlebot/turtlebot4_simulator.git

• 安装依赖

cd ~/ros2_tb4_ws
vcs import src < src/turtlebot4_simulator/dependencies.repos
rosdep install --from-path src -yi

• 编译包

source /opt/ros/galactic/setup.bash
colcon build --symlink-install

• 增加工作空间到bashrc

echo "source ~/ros2_tb4_ws/install/local_setup.bash" >> ~/.bashrc

运行：

• 启动标准版

ros2 launch turtlebot4_ignition_bringup ignition.launch.py

• 效果图：

• 启动lite版

ros2 launch turtlebot4_ignition_bringup ignition.launch.py　model:=lite

• 效果图：