​[ROS2]源码安装turtlebot3用于调试（简易版）

2022-04-13 19:59:37 浏览数 (2)

ROS2源码安装turtlebot3用于调试（简易版）

下面的操作是基于ROS2 galactic

turtlebot3的代码下载：

安装git，编译工具和下载源代码

代码语言：shell复制
sudo apt-get install git python3-vcstool build-essential python3-colcon-common-extensions
mkdir -p turtlebot3_ws/src
cd turtlebot3_ws/
git clone https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3.git src/turtlebot3 -b galactic-devel
git clone https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git src/turtlebot3_msgs -b galactic-devel
git clone https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git src/turtlebot3_simulations -b galactic-devel

注意：链接中的https://ghproxy.com/ 为使用代理下载github代码。

可选使用vcs工具下载源码：

安装vcs

代码语言：text复制
sudo apt-get install python3-vcstool

在turtlebot3_ws目录下新建tmp.repos 。复制下面的内容到该文件并保存。

代码语言：YAML复制
repositories:
  turtlebot3:
    type: git
    url: https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3.git
    version: galactic-devel
  turtlebot3_msgs:
    type: git
    url: https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
    version: galactic-devel
  turtlebot3_simulations:
    type: git
    url: https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
    version: galactic-devel

turtlebot3_ws目录下运行

代码语言：shell复制
vcs import src < tmp.repos

解决依赖

代码语言：shell复制
rosdep update

rosdep install --from-paths src --ignore-src --rosdistro galactic -yr
sudo apt-get install ros-galactic-gazebo-*

编译

代码语言：shell复制
colcon build --symlink-install

在turtlebot3_ws目录下source编译好的程序

代码语言：shell复制
source install/setup.bash
c++ROS2

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