系列文章目录

• Turtlebot3-burger入门教程#foxy版#-目录
• Turtlebot3-burger入门教程#foxy版#-硬件清单
• Turtlebot3-burger入门教程#foxy版#-软件清单
• Turtlebot3-burger入门教程#foxy版#-PC安装
• Turtlebot3-burger入门教程#foxy版#-树莓派4安装
• Turtlebot3-burger入门教程#foxy版#-OpenCR安装
• Turtlebot3-burger入门教程#foxy版#-网络设置
• Turtlebot3-burger入门教程#foxy版#-雷达测试
• Turtlebot3-burger入门教程#foxy版#-键盘控制
• Turtlebot3-burger入门教程#foxy版#-cartographer建图
• Turtlebot3-burger入门教程#foxy版#-slam toolbox建图
• Turtlebot3-burger入门教程#foxy版#-自主导航

说明：

• 本教程介绍如何在在PC上安装对应的系统和软件
• 测试环境： Ubuntu 20.04 + ROS2 Foxy Fitzroy

相关设备

• TB3套件：采购地址

前提说明

• 对于在创客智造上购买的foxy版系统的tb3是已经配置好系统，不需要重复安装配置

• 若是创客智造上购买的默认是Noetic系统的tb3且想要切换到Foxy环境，则需要进行环境切换

• [Remote PC] 若当前需要从Noetic切换到Foxy环境，需要将文档末端的两项环境变量全部注释，保存退出关闭此终端

$ vim ~/.bashrc
   
#source ~/tools/environment/noetic/setRosNoeticEnvironment.sh
#source ~/tools/environment/foxy/setRos2FoxyEnvironment.sh
$ exit

• [Remote PC] 打开新终端，将文档末端Foxy的环境变量的注释标志去掉，再保存退出

$ vim ~/.bashrc
   
#source ~/tools/environment/noetic/setRosNoeticEnvironment.sh
source ~/tools/environment/foxy/setRos2FoxyEnvironment.sh
$ source ~/.bashrc && rosversion -d
foxy

系统安装

• Ubuntu系统入门教程-安装ubuntu20.04

ROS2 Foxy Fitzroy安装

• [Remote PC] apt安装

# 设置编码
$ locale  # check for UTF-8
$ sudo apt update && sudo apt install locales
$ 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
$ locale  # verify settings
 
# 添加key
$ sudo apt update && sudo apt install curl gnupg2 lsb-release
$ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
# ros2源
$ 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
# 安装ros2
$ sudo apt update
$ sudo apt install ros-foxy-desktop
# 设置环境
$ echo "source /opt/ros/foxy/setup.bash" >> ~/.bashrc

• [Remote PC] 测试

# 新终端，订阅话题
$ ros2 run demo_nodes_py listener
[INFO] [1634527167.275393800] [listener]: I heard: [Hello World: 1]
[INFO] [1634527168.204285069] [listener]: I heard: [Hello World: 2]
[INFO] [1634527169.204316087] [listener]: I heard: [Hello World: 3]
 
# 新终端，发布话题
$ ros2 run demo_nodes_cpp talker
[INFO] [1634527098.551044682] [talker]: Publishing: 'Hello World: 1'
[INFO] [1634527099.550897311] [talker]: Publishing: 'Hello World: 2'
[INFO] [1634527100.550894548] [talker]: Publishing: 'Hello World: 3'

安装TurtleBot3及相关依赖包

• [Remote PC] 安装相关依赖包

$ sudo apt install -y python3-argcomplete python3-colcon-common-extensions python3-vcstool git
$ sudo apt-get install ros-foxy-gazebo-* ros-foxy-cartographer ros-foxy-cartographer-ros \
  ros-foxy-nav2-bringup ros-foxy-navigation2 ros-foxy-slam-toolbox

• [Remote PC] 安装TurtleBot3包

$ mkdir -p ~/turtlebot3_ws2/src
$ cd ~/turtlebot3_ws2/src/
$ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
$ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
$ cd ~/turtlebot3_ws2
$ colcon build --symlink-install
$ echo 'source ~/turtlebot3_ws2/install/setup.bash' >> ~/.bashrc
$ source ~/.bashrc

• [Remote PC] 环境配置

$ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
$ source ~/.bashrc