PS：首先附上參考文章的鏈接-樹莓派ubuntu mate或其他ubuntu16.04安裝ROS(Kinetic)，
前面的安裝ROS-Kinetic步驟完全一致，步驟1~7摘抄在下面，
1.添加源
中科大源：
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
2.增加key
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
3.更新
sudo apt-get update
sudo apt-get upgrade
4.安裝
sudo apt-get install ros-kinetic-desktop-full
5.rosdep
sudo rosdep init
rosdep update
6.設定全域環境
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
7.安裝依賴
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
到此，ROS-Kinetic安裝完畢，下面安裝Turtlebot2依賴項以及測驗：
8.安裝Turtlebot2依賴項
sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-actions ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-bringup ros-kinetic-turtlebot-calibration ros-kinetic-turtlebot-capabilities ros-kinetic-turtlebot-create ros-kinetic-turtlebot-dashboard ros-kinetic-turtlebot-description ros-kinetic-turtlebot-follower ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-interactive-markers ros-kinetic-turtlebot-loadout-kha1 ros-kinetic-turtlebot-msgs ros-kinetic-turtlebot-navigation ros-kinetic-turtlebot-rapps ros-kinetic-turtlebot-rviz-launchers ros-kinetic-turtlebot-simulator ros-kinetic-turtlebot-stage ros-kinetic-turtlebot-stdr
9.turtlebot2測驗
首先，將電腦和turtlebot用連接線連接，打開turtlebot的開關，
打開一個終端輸入：
roslaunch turtlebot_bringup minimal.launch
再打開一個終端，輸入：
roslaunch turtlebot_teleop keyboard_teleop.launch
然后在此終端便可以控制turtlebot的運動，控制方向的按鍵有
| u：向左前行駛 | i：向前行駛 | u：向右前行駛 |
|---|---|---|
| j：原地向左轉向 | l：原地向右轉向 | |
| m：向左后行駛 | ，：向后行駛 | ，：向右后行駛 |
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標籤：AI