参考网址:

sudrag/line_follower_turtlebot: A repo created to simulate a line following turtlebot in Gazebo environment using ROS (github.com)

(105条消息) ROS-Melodic下 Gazebo+Turtlebot安装_qty2898734013的博客-CSDN博客_melodic安装gazebo

另一位大佬的,不过没有我运行成功

ROS开发6——Gazebo环境下ROS+OpenCV搭建机器人图像开发案例 | Zenan’s Blog (zenanlin1999.github.io)

简介

参考的是以为大佬的github项目,基本环境如下:

ROS Kinetic
Catkin
roscpp package
std_msgs package
message_generation package
OpenCV

但由于melodic并没有办法直接安装turtlebot_gazebo所以需要先手动安装turtlebot_gazebo

方法如下

安装turtlebot_gazebo

# 安装gazebo
sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-ros-control
# 修改配置文件
sudo nano ~/.ignition/fuel/config.yaml
# 注释掉,并加入
# url: https://api.ignitionfuel.org
url: https://api.ignitionrobotics.org

# 如果是vmare虚拟机,需要加入
export SVGA_VGPU10=0
echo "export SVGA_VGPU10=0" >> ~/.bashrc
source ~/.bashrc
# 启动
gazebo

a\安装依赖包

sudo apt-get install ros-melodic-kobuki-*
sudo apt-get install ros-melodic-ecl-streams
sudo apt-get install ros-melodic-bfl
sudo apt-get install ros-melodic-map-server
sudo apt-get install ros-melodic-move-base
sudo apt-get install ros-melodic-amcl
sudo apt-get install ros-melodic-dwa-local-planner
sudo apt-get install libusb-dev
sudo apt-get install libspnav-dev
sudo apt-get install ros-melodic-joystick-drivers
sudo apt-get install bluetooth
sudo apt-get install libbluetooth-dev
sudo apt-get install libcwiid-dev

b\新建工作空间，准备相关包

mkdir -p ~/turtlebot_ws/src 
cd ~/turtlebot_ws/src 
git clone git://github.com/turtlebot/turtlebot_simulator
git clone git://github.com/turtlebot/turtlebot.git
git clone git://github.com/turtlebot/turtlebot_apps.git
git clone git://github.com/udacity/robot_pose_ekf
git clone git://github.com/ros-perception/depthimage_to_laserscan.git 
git clone git://github.com/yujinrobot/kobuki_msgs.git
git clone git://github.com/yujinrobot/kobuki_desktop.git
git clone git://github.com/ncnynl/turtlebot_viz
git clone git://github.com/turtlebot/turtlebot_create.git
cd kobuki_desktop/
rm -r kobuki_qtestsuite
git clone git://github.com/toeklk/orocos-bayesian-filtering.git
git clone git://github.com/turtlebot/turtlebot_msgs.git
git clone git://github.com/ros-drivers/joystick_drivers.git

c\复制kobuki和yujin_ocs依赖库到turtlebot_ws/src工作空间下

mkdir -p ~/repos/
cd ~/repos/
git clone git://github.com/yujinrobot/kobuki.git
cp -r kobuki/* ~/turtlebot_ws/src/
git clone git://github.com/yujinrobot/yujin_ocs.git
cp -r yujin_ocs/yocs_cmd_vel_mux/ yujin_ocs/yocs_controllers ~/turtlebot_ws/src/

d\编译与添加到环境变量

cd ~/turtlebot_ws
catkin_make
echo "source ~/turtlebot_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

e\测试

1	roslaunch turtlebot_gazebo turtlebot_world.launch

运行opencv巡线

mkdir catkin_ws
cd catkin_ws
mkdir src
catkin_make
cd ~/catkin_ws/src
git clone https://github.com/sudrag/line_follower_turtlebot.git
cd ..
catkin_make

run

1
2
3

cd ~/catkin_ws
source devel/setup.bash
roslaunch line_follower_turtlebot lf.launch