Difference between revisions of "Sisters Dell ROS 2 Foxy Install 20210219"
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* [[Sisters_Upgrade_to_Ubuntu_20.04_202102]] | * [[Sisters_Upgrade_to_Ubuntu_20.04_202102]] | ||
* [[Hood_Upgrade_to_Ubuntu_20.04_20210311]] | * [[Hood_Upgrade_to_Ubuntu_20.04_20210311]] | ||
+ | |||
+ | = 3.1.2 Install ROS 2 = | ||
+ | |||
+ | $ sudo apt update | ||
+ | ... | ||
+ | |||
+ | $ sudo apt upgrade | ||
+ | ... | ||
+ | |||
+ | $ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros2_foxy.sh | ||
+ | |||
+ | $ chmod 755 ./install_ros2_foxy.sh | ||
+ | |||
+ | $ bash ./install_ros2_foxy.sh | ||
+ | ... | ||
+ | |||
+ | = 3.1.3 Install Dependent ROS 2 Packages = | ||
+ | |||
+ | == Install Gazebo11 == | ||
+ | |||
+ | $ curl -sSL http://get.gazebosim.org | sh | ||
+ | ======================================================= | ||
+ | GAZEBO INSTALLATION SCRIPT | ||
+ | ======================================================= | ||
+ | ... | ||
+ | |||
+ | $ sudo apt install ros-foxy-gazebo-ros-pkgs | ||
+ | Reading package lists... Done | ||
+ | Building dependency tree | ||
+ | Reading state information... Done | ||
+ | ... | ||
+ | |||
+ | == Install Cartographer == | ||
+ | |||
+ | $ sudo apt install ros-foxy-cartographer | ||
+ | Reading package lists... Done | ||
+ | Building dependency tree | ||
+ | ... | ||
+ | |||
+ | $ sudo apt install ros-foxy-cartographer-ros | ||
+ | Reading package lists... Done | ||
+ | Building dependency tree | ||
+ | ... | ||
+ | |||
+ | == Install Navigation2 == | ||
+ | |||
+ | $ sudo apt install ros-foxy-navigation2 | ||
+ | Reading package lists... Done | ||
+ | Building dependency tree | ||
+ | ... | ||
+ | |||
+ | $ sudo apt install ros-foxy-nav2-bringup | ||
+ | Reading package lists... Done | ||
+ | Building dependency tree | ||
+ | ... | ||
+ | |||
+ | == Install vcstool == | ||
+ | |||
+ | $ sudo apt install python3-vcstool | ||
+ | Reading package lists... Done | ||
+ | Building dependency tree | ||
+ | ... | ||
+ | |||
+ | = 3.1.4 Install TurtleBot3 Packages - Source Install = | ||
+ | |||
+ | $ sudo apt-get install ros-foxy-dynamixel-sdk* | ||
+ | Reading package lists... Done | ||
+ | Building dependency tree | ||
+ | ... | ||
+ | |||
+ | $ mkdir -p ~/turtlebot3_ws/src | ||
+ | |||
+ | $ cd ~/turtlebot3_ws/src/ | ||
+ | |||
+ | $ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git | ||
+ | Cloning into 'turtlebot3_msgs'... | ||
+ | remote: Enumerating objects: 19, done. | ||
+ | remote: Counting objects: 100% (19/19), done. | ||
+ | remote: Compressing objects: 100% (13/13), done. | ||
+ | remote: Total 261 (delta 3), reused 12 (delta 2), pack-reused 242 | ||
+ | Receiving objects: 100% (261/261), 74.79 KiB | 602.00 KiB/s, done. | ||
+ | Resolving deltas: 100% (104/104), done. | ||
+ | |||
+ | $ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3.git | ||
+ | Cloning into 'turtlebot3'... | ||
+ | remote: Enumerating objects: 5441, done. | ||
+ | remote: Total 5441 (delta 0), reused 0 (delta 0), pack-reused 5441 | ||
+ | Receiving objects: 100% (5441/5441), 119.74 MiB | 4.18 MiB/s, done. | ||
+ | Resolving deltas: 100% (3413/3413), done. | ||
+ | |||
+ | $ pwd | ||
+ | /home/eepp/turtlebot3_ws/src | ||
+ | |||
+ | $ cd .. | ||
+ | |||
+ | $ colcon build --symlink-install | ||
+ | Starting >>> turtlebot3_msgs | ||
+ | [0.259s] WARNING:colcon.colcon_core.prefix_path.colcon:The path '/home/eepp/turtlebot3_ws/src/install' in the environment variable COLCON_PREFIX_PATH doesn't exist | ||
+ | [0.259s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_teleop' in the environment variable AMENT_PREFIX_PATH doesn't exist | ||
+ | [0.259s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_example' in the environment variable AMENT_PREFIX_PATH doesn't exist | ||
+ | [0.259s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3' in the environment variable CMAKE_PREFIX_PATH doesn't exist | ||
+ | [0.259s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_bringup' in the environment variable CMAKE_PREFIX_PATH doesn't exist | ||
+ | [0.260s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_node' in the environment variable CMAKE_PREFIX_PATH doesn't exist | ||
+ | [0.260s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_navigation2' in the environment variable CMAKE_PREFIX_PATH doesn't exist | ||
+ | [0.260s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_msgs' in the environment variable CMAKE_PREFIX_PATH doesn't exist | ||
+ | [0.260s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_description' in the environment variable CMAKE_PREFIX_PATH doesn't exist | ||
+ | [0.260s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_cartographer' in the environment variable CMAKE_PREFIX_PATH doesn't exist | ||
+ | Starting >>> turtlebot3_description | ||
+ | Starting >>> turtlebot3_cartographer | ||
+ | Starting >>> turtlebot3_navigation2 | ||
+ | Finished <<< turtlebot3_cartographer [1.89s] | ||
+ | Starting >>> turtlebot3_teleop | ||
+ | Finished <<< turtlebot3_navigation2 [1.92s] | ||
+ | Finished <<< turtlebot3_description [2.25s] | ||
+ | Finished <<< turtlebot3_teleop [0.90s] | ||
+ | Finished <<< turtlebot3_msgs [15.3s] | ||
+ | Starting >>> turtlebot3_node | ||
+ | Starting >>> turtlebot3_example | ||
+ | Finished <<< turtlebot3_example [0.89s] | ||
+ | Finished <<< turtlebot3_node [26.2s] | ||
+ | Starting >>> turtlebot3_bringup | ||
+ | Finished <<< turtlebot3_bringup [1.10s] | ||
+ | Starting >>> turtlebot3 | ||
+ | Finished <<< turtlebot3 [1.06s] | ||
+ | |||
+ | Summary: 9 packages finished [43.9s] | ||
+ | |||
+ | = 3.1.5 Environment Configuration = | ||
+ | |||
+ | $ echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc | ||
+ | |||
+ | $ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc | ||
+ | |||
+ | Add this to end of .bashrc | ||
+ | |||
+ | $ export TURTLEBOT3_MODEL=burger | ||
+ | |||
+ | $ source ~/.bashrc | ||
= Notes and Logs = | = Notes and Logs = | ||
[[Sisters Dell Setup Foxy 20210219 Notes and Logs]] | [[Sisters Dell Setup Foxy 20210219 Notes and Logs]] |
Latest revision as of 14:18, 28 June 2021
Contents
References
- Robotis Turtlebot3 e_Manual - Quick Start Guide - 3.1 PC Setup Foxy version selected at top.
3.1.1 Download and Install Ubuntu on PC
Ubuntu 20.04 has already been installed. See one of the following for either the PC laptop (Sisters) or Intel NUC (Hood).
3.1.2 Install ROS 2
$ sudo apt update ... $ sudo apt upgrade ... $ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros2_foxy.sh $ chmod 755 ./install_ros2_foxy.sh $ bash ./install_ros2_foxy.sh ...
3.1.3 Install Dependent ROS 2 Packages
Install Gazebo11
$ curl -sSL http://get.gazebosim.org | sh ======================================================= GAZEBO INSTALLATION SCRIPT ======================================================= ... $ sudo apt install ros-foxy-gazebo-ros-pkgs Reading package lists... Done Building dependency tree Reading state information... Done ...
Install Cartographer
$ sudo apt install ros-foxy-cartographer Reading package lists... Done Building dependency tree ... $ sudo apt install ros-foxy-cartographer-ros Reading package lists... Done Building dependency tree ...
$ sudo apt install ros-foxy-navigation2 Reading package lists... Done Building dependency tree ... $ sudo apt install ros-foxy-nav2-bringup Reading package lists... Done Building dependency tree ...
Install vcstool
$ sudo apt install python3-vcstool Reading package lists... Done Building dependency tree ...
3.1.4 Install TurtleBot3 Packages - Source Install
$ sudo apt-get install ros-foxy-dynamixel-sdk* Reading package lists... Done Building dependency tree ... $ mkdir -p ~/turtlebot3_ws/src $ cd ~/turtlebot3_ws/src/ $ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git Cloning into 'turtlebot3_msgs'... remote: Enumerating objects: 19, done. remote: Counting objects: 100% (19/19), done. remote: Compressing objects: 100% (13/13), done. remote: Total 261 (delta 3), reused 12 (delta 2), pack-reused 242 Receiving objects: 100% (261/261), 74.79 KiB | 602.00 KiB/s, done. Resolving deltas: 100% (104/104), done. $ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3.git Cloning into 'turtlebot3'... remote: Enumerating objects: 5441, done. remote: Total 5441 (delta 0), reused 0 (delta 0), pack-reused 5441 Receiving objects: 100% (5441/5441), 119.74 MiB | 4.18 MiB/s, done. Resolving deltas: 100% (3413/3413), done. $ pwd /home/eepp/turtlebot3_ws/src $ cd .. $ colcon build --symlink-install Starting >>> turtlebot3_msgs [0.259s] WARNING:colcon.colcon_core.prefix_path.colcon:The path '/home/eepp/turtlebot3_ws/src/install' in the environment variable COLCON_PREFIX_PATH doesn't exist [0.259s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_teleop' in the environment variable AMENT_PREFIX_PATH doesn't exist [0.259s] WARNING:colcon.colcon_ros.prefix_path.ament:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_example' in the environment variable AMENT_PREFIX_PATH doesn't exist [0.259s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3' in the environment variable CMAKE_PREFIX_PATH doesn't exist [0.259s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_bringup' in the environment variable CMAKE_PREFIX_PATH doesn't exist [0.260s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_node' in the environment variable CMAKE_PREFIX_PATH doesn't exist [0.260s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_navigation2' in the environment variable CMAKE_PREFIX_PATH doesn't exist [0.260s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_msgs' in the environment variable CMAKE_PREFIX_PATH doesn't exist [0.260s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_description' in the environment variable CMAKE_PREFIX_PATH doesn't exist [0.260s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '/home/eepp/turtlebot3_ws/src/install/turtlebot3_cartographer' in the environment variable CMAKE_PREFIX_PATH doesn't exist Starting >>> turtlebot3_description Starting >>> turtlebot3_cartographer Starting >>> turtlebot3_navigation2 Finished <<< turtlebot3_cartographer [1.89s] Starting >>> turtlebot3_teleop Finished <<< turtlebot3_navigation2 [1.92s] Finished <<< turtlebot3_description [2.25s] Finished <<< turtlebot3_teleop [0.90s] Finished <<< turtlebot3_msgs [15.3s] Starting >>> turtlebot3_node Starting >>> turtlebot3_example Finished <<< turtlebot3_example [0.89s] Finished <<< turtlebot3_node [26.2s] Starting >>> turtlebot3_bringup Finished <<< turtlebot3_bringup [1.10s] Starting >>> turtlebot3 Finished <<< turtlebot3 [1.06s] Summary: 9 packages finished [43.9s]
3.1.5 Environment Configuration
$ echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc $ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
Add this to end of .bashrc
$ export TURTLEBOT3_MODEL=burger $ source ~/.bashrc