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下载Navigation2源码来学习

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下面的操作是基于galactic

代码下载

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#安装git和编译工具
sudo apt-get install git python3-vcstool build-essential python3-colcon-common-extensions
mkdir -p turtlebot3_ws/src
cd turtlebot3_ws/

#下载turtlebot3代码
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

#下载navigation2
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

#下载teb_local_planner
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

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

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

turtlebot3_ws目录下运行

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vcs import src < tmp.repos

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

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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