設(shè)置語言環(huán)境

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

安裝源

sudo apt update && sudo apt install curl gnupg2 lsb-release

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

安裝ROS2軟件包

sudo apt update

sudo apt install ros-dashing-desktop

sudo apt install ros-dashing-ros-base

環(huán)境設(shè)置

source /opt/ros/dashing/setup.bash

安裝argcomplete

sudo apt install python3-argcomplete

安裝Turtlebot3 軟件包

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

mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src

git clone -b ros2 https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git

git clone -b ros2 https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

git clone -b ros2 https://github.com/ROBOTIS-GIT/turtlebot3.git

git clone -b ros2 https://github.com/ROBOTIS-GIT/DynamixelSDK.git

cd ~/turtlebot3_ws/src/turtlebot3

rm -r turtlebot3_cartographer turtlebot3_navigation2

cd ~/turtlebot3_ws/

echo 'source /opt/ros/dashing/setup.bash' >> ~/.bashrc

source ~/.bashrc

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

域ID分配

echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc

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

source ~/.bashrc

參考

總結(jié)

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