TB3+X52入门(ROS2)教程-2.软件设置

注意：TurtleBot3 Manipulation for ROS2 Humble 需要该turtlebot3_manipulation软件包。请按照以下说明安装所需的软件包及其依赖项。

TurtleBot3 模拟包需要 turtlebot3 和 turtlebot3_msgs 两个软件包。如果没有这些必备软件包，TurtleBot3 机械手将无法启动。如果您未安装所需软件包和依赖软件包，请按照快速入门指南中的说明进行操作。

1. 使用以下 ssh 命令连接到TurtleBot3 SBC 。

[远程 PC]

ssh ubuntu@{IP_ADDRESS_OF_TURTLEBOT3}

换源

sudo vim /etc/apt/sources.list.d/ros2.list

添加如下内容

deb [trusted=yes] https://repo.ros2.org/ubuntu/main jammy main

2. 安装 TurtleBot3 操作软件包。

[TurtleBot3 SBC]

sudo apt update

sudo apt upgrade

sudo apt install ros-humble-hardware-interface -y

sudo apt install ros-humble-xacro -y

sudo apt install ros-humble-ros2-control -y

sudo apt install ros-humble-ros2-controllers -y

sudo apt install ros-humble-gripper-controllers -y

cd ~/turtlebot3_ws/src/

git clone -b humble https://ghfast.top/https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git

git clone -b humble https://ghfast.top/https://github.com/ROBOTIS-GIT/open_manipulator.git

git clone -b humble https://ghfast.top/https://github.com/ROBOTIS-GIT/dynamixel_hardware_interface.git

git clone -b humble https://ghfast.top/https://github.com/ROBOTIS-GIT/dynamixel_interfaces.git

cd ~/turtlebot3_ws && colcon build --symlink-install

3. 在远程电脑上打开终端，并使用以下命令安装所需的软件包。

[远程 PC]

sudo apt install ros-humble-dynamixel-sdk -y

sudo apt install ros-humble-ros2-control -y

sudo apt install ros-humble-ros2-controllers -y

sudo apt install ros-humble-gripper-controllers -y

sudo apt install ros-humble-moveit* -y

cd ~/turtlebot3_ws/src/

git clone -b humble https://ghfast.top/https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git

cd ~/turtlebot3_ws && colcon build --symlink-install