Hood NUC Melih ROS2 TB3 Install
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January 18, 2020
ROS 2 on Turtlebot 3 takes place here. Navigation will be removed from the install. I suspect so that the we will be working with the a current release of the Intel Navigation 2 stack.
Reference
- Intel TB3 Tutorial: The core instructions.
- cartographer
Install Cartographer dependencies
The following was already installed previously.
$ sudo apt install -y \ google-mock \ libceres-dev \ liblua5.3-dev \ libboost-dev \ libboost-iostreams-dev \ libprotobuf-dev \ protobuf-compiler \ libcairo2-dev \ libpcl-dev \ python3-sphinx
See Hood ROS2 Melih Cartography Dependencies Log
The following was already installed previously as well.
$ sudo apt install -y \ libsdl-image1.2 \ libsdl-image1.2-dev \ libsdl1.2debian \ libsdl1.2-dev
See Hood ROS2 Melih Navigation2 Dependencies Log
Create a Workspace for TB3
eepp@hood:navigation2_ws$ cd ~/ros2_all_ws eepp@hood:ros2_all_ws$ mkdir turtlebot3_ws eepp@hood:ros2_all_ws$ cd turtlebot3_ws eepp@hood:turtlebot3_ws$ mkdir src
Clone all the up to date repositories
eepp@hood:turtlebot3_ws$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/ros2/turtlebot3.repos --2020-01-18 10:33:00-- https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/ros2/turtlebot3.repos Resolving raw.githubusercontent.com (raw.githubusercontent.com)... 151.101.52.133 Connecting to raw.githubusercontent.com (raw.githubusercontent.com)|151.101.52.133|:443... connected. HTTP request sent, awaiting response... 200 OK Length: 620 [text/plain] Saving to: ‘turtlebot3.repos’ turtlebot3.repos 100%[===================>] 620 --.-KB/s in 0s 2020-01-18 10:33:00 (32.7 MB/s) - ‘turtlebot3.repos’ saved [620/620] eepp@hood:turtlebot3_ws$ vcs import src < turtlebot3.repos ..... === src/turtlebot3/turtlebot3 (git) === Cloning into '.'... Switched to a new branch 'ros2' Branch 'ros2' set up to track remote branch 'ros2' from 'origin'. === src/turtlebot3/turtlebot3_msgs (git) === Cloning into '.'... Switched to a new branch 'ros2' Branch 'ros2' set up to track remote branch 'ros2' from 'origin'. === src/turtlebot3/turtlebot3_simulations (git) === Cloning into '.'... Switched to a new branch 'ros2' Branch 'ros2' set up to track remote branch 'ros2' from 'origin'. === src/utils/DynamixelSDK (git) === Cloning into '.'... Switched to a new branch 'ros2' Branch 'ros2' set up to track remote branch 'ros2' from 'origin'. === src/utils/hls_lfcd_lds_driver (git) === Cloning into '.'... Switched to a new branch 'ros2' Branch 'ros2' set up to track remote branch 'ros2' from 'origin'.
Remove Navigation Stack
eepp@hood:turtlebot3_ws$ cd ~/ros2_all_ws/turtlebot3_ws/src eepp@hood:src$ ls turtlebot3 utils eepp@hood:src$ sudo rm -r navigation2 rm: cannot remove 'navigation2': No such file or directory eepp@hood:src$ cd ~/ros2_all_ws/turtlebot3_ws
Not sure why this happened but it made sense at the time.