下面的操作是基于galactic
代码下载
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| sudo apt-get install git python3-vcstool build-essential python3-colcon-common-extensions mkdir -p turtlebot3_ws/src cd turtlebot3_ws/
git clone https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3.git src/turtlebot3 -b galactic-devel git clone https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git src/turtlebot3_msgs -b galactic-devel git clone https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git src/turtlebot3_simulations -b galactic-devel
git clone https://ghproxy.com/https://github.com/ros-planning/navigation2.git src/navigation2 -b galactic git clone https://ghproxy.com/https://github.com/ros-planning/navigation2_tutorials.git src/navigation2_tutorials -b master
git clone https://ghproxy.com/https://github.com/rst-tu-dortmund/costmap_converter.git src/costmap_converter -b ros2 git clone https://ghproxy.com/https://github.com/rst-tu-dortmund/teb_local_planner.git src/teb_local_planner -b ros2-master
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注意:链接中的https://ghproxy.com/ 为使用代理下载github代码。
可选使用vcs工具下载源码:
安装vcs
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| sudo apt-get install python3-vcstool
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在turtlebot3_ws目录下新建tmp.repos 。复制下面的内容到该文件并保存。
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| repositories: costmap_converter: type: git url: https://ghproxy.com/https://github.com/rst-tu-dortmund/costmap_converter.git version: ros2 navigation2: type: git url: https://ghproxy.com/https://github.com/ros-planning/navigation2.git version: galactic navigation2_tutorials: type: git url: https://ghproxy.com/https://github.com/ros-planning/navigation2_tutorials.git version: master teb_local_planner: type: git url: https://ghproxy.com/https://github.com/rst-tu-dortmund/teb_local_planner.git version: ros2-master turtlebot3: type: git url: https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3.git version: galactic-devel turtlebot3_msgs: type: git url: https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git version: galactic-devel turtlebot3_simulations: type: git url: https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git version: galactic-devel
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turtlebot3_ws目录下运行
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| vcs import src < tmp.repos
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解决依赖
注意:rosdepc
是通过小鱼的一键安装工具安装的。
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| rosdepc update
rosdep install --from-paths src --ignore-src --rosdistro galactic -yr
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编译
在turtlebot3_ws目录下source编译好的程序
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| colcon build --symlink-install
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| source install/setup.bash
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