TurtleBot3-ROS简化安装教程
Posted kay2018
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以下脚本将允许您简化ROS安装过程。在TurtleBot PC上的终端窗口中运行以下命令。终端应用程序可以通过屏幕左上角的Ubuntu搜索图标找到。终端的快捷键是Ctrl- Alt- T。安装ROS后,请重启TurtleBot PC。
sudo apt-get update sudo apt-get upgrade wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic_rp3.sh && chmod 755 ./install_ros_kinetic_rp3.sh && bash ./install_ros_kinetic_rp3.sh
注意:为了检查安装了哪些软件包,请查看install_ros_kinetic_rp3.sh
#!/bin/bash # Apache License 2.0 # Copyright (c) 2017, ROBOTIS CO., LTD. echo "" echo "[Note] Target OS version >>> Ubuntu Mate for the Raspberry Pi" echo "[Note] Target ROS version >>> ROS Kinetic Kame" echo "[Note] Catkin workspace >>> $HOME/catkin_ws" echo "" echo "PRESS [ENTER] TO CONTINUE THE INSTALLATION" echo "IF YOU WANT TO CANCEL, PRESS [CTRL] + [C]" read echo "[Set the target OS, ROS version and name of catkin workspace]" name_os_version=${name_os_version:="xenial"} name_ros_version=${name_ros_version:="kinetic"} name_catkin_workspace=${name_catkin_workspace:="catkin_ws"} echo "[Update the package lists and upgrade them]" sudo apt-get update -y sudo apt-get upgrade -y echo "[Install build environment, the chrony, ntpdate and set the ntpdate]" sudo apt-get install -y chrony ntpdate build-essential sudo ntpdate ntp.ubuntu.com echo "[Add the ROS repository]" if [ ! -e /etc/apt/sources.list.d/ros-latest.list ]; then sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu ${name_os_version} main\" > /etc/apt/sources.list.d/ros-latest.list" fi echo "[Download the ROS keys]" roskey=`apt-key list | grep "ROS Builder"` if [ -z "$roskey" ]; then sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 fi echo "[Check the ROS keys]" roskey=`apt-key list | grep "ROS Builder"` if [ -n "$roskey" ]; then echo "[ROS key exists in the list]" else echo "[Failed to receive the ROS key, aborts the installation]" exit 0 fi echo "[Update the package lists and upgrade them]" sudo apt-get update -y sudo apt-get upgrade -y echo "[Install the ros-base]" sudo apt-get install -y ros-$name_ros_version-ros-base echo "[Initialize rosdep]" sudo sh -c "rosdep init" rosdep update echo "[Environment setup and getting rosinstall]" source /opt/ros/$name_ros_version/setup.sh sudo apt-get install -y python-rosinstall echo "[Make the catkin workspace and test the catkin_make]" mkdir -p $HOME/$name_catkin_workspace/src cd $HOME/$name_catkin_workspace/src catkin_init_workspace cd $HOME/$name_catkin_workspace catkin_make echo "[Set the ROS evironment]" sh -c "echo \"alias eb=‘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 ~/$name_catkin_workspace‘\" >> ~/.bashrc" sh -c "echo \"alias cs=‘cd ~/$name_catkin_workspace/src‘\" >> ~/.bashrc" sh -c "echo \"alias cm=‘cd ~/$name_catkin_workspace && catkin_make‘\" >> ~/.bashrc" sh -c "echo \"source /opt/ros/$name_ros_version/setup.bash\" >> ~/.bashrc" sh -c "echo \"source ~/$name_catkin_workspace/devel/setup.bash\" >> ~/.bashrc" sh -c "echo \"export ROS_MASTER_URI=http://localhost:11311\" >> ~/.bashrc" sh -c "echo \"export ROS_HOSTNAME=localhost\" >> ~/.bashrc" source $HOME/.bashrc echo "[Complete!!!]" exit 0
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