Hood NUC ROS 2 Foxy Install 20210311 V2
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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
2 Install Colcon
$ sudo apt install python3-colcon-common-extensions Reading package lists... Done Building dependency tree ...
3 Install Gazebo11
$ sudo apt install ros-foxy-gazebo-ros-pkgs Reading package lists... Done Building dependency tree ...
4 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 ...
6 Install vcstool
$ sudo apt install python3-vcstool Reading package lists... Done Building dependency tree ...
7 Install Laser Distance Sensor Driver
This did not appear in the Burger install for the Remote PC (Sisters) because the Laser Distance driver is handled by the Raspberry Pi (Single Board Computer (SBC)). We must do it here because it will be handled on the NUC (Hood).
$ sudo apt install ros-foxy-hls-lfcd-lds-driver 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 ... $ sudo apt remove ros-foxy-turtlebot3-msgs Reading package lists... Done Building dependency tree ... $ sudo apt remove ros-foxy-turtlebot3 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 | 2.99 MiB/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: 23, done. remote: Counting objects: 100% (23/23), done. remote: Compressing objects: 100% (15/15), done. remote: Total 5464 (delta 6), reused 15 (delta 2), pack-reused 5441 Receiving objects: 100% (5464/5464), 119.74 MiB | 8.50 MiB/s, done. Resolving deltas: 100% (3419/3419), done. $ pwd /home/eepp/turtlebot3_ws/src $ cd .. $ colcon build --symlink-install Starting >>> turtlebot3_msgs Starting >>> turtlebot3_description Starting >>> turtlebot3_cartographer Starting >>> turtlebot3_navigation2 Finished <<< turtlebot3_description [0.52s] Starting >>> turtlebot3_teleop Finished <<< turtlebot3_cartographer [0.55s] Finished <<< turtlebot3_navigation2 [0.97s] Finished <<< turtlebot3_msgs [1.57s] Starting >>> turtlebot3_node Starting >>> turtlebot3_example Finished <<< turtlebot3_teleop [1.57s] Finished <<< turtlebot3_example [1.11s] [Processing: turtlebot3_node] Finished <<< turtlebot3_node [34.3s] Starting >>> turtlebot3_bringup Finished <<< turtlebot3_bringup [1.35s] Starting >>> turtlebot3 Finished <<< turtlebot3 [1.32s] Summary: 9 packages finished [38.8s]
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