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小鱼 ROS 2 新书上线!点击链接查看, 新书配套视频点击链接查看。
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小鱼 ROS 2 新书上线!点击链接查看, 新书配套视频点击链接查看。
提问前必看的发帖注意事项—— 提问前必看!不符合要求的问题拒绝回答!!
社区使用指南—如何添加标签修改密码
下载Navigation2源码来学习
-
下面的操作是基于
galactic
代码下载
#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
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。
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
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。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
colcon build --symlink-install
source install/setup.bash
我是首飞,一个帮大家填坑的机器人开发攻城狮。