Preliminary learning of ROS---turtlebot robot platform installation

Now I am enrolled in graduate school and I am exposed to the service robot project. I am mainly responsible for the navigation part, including positioning, composition and path planning. Record the learning process now to facilitate future learning records and urge yourself at the same time.

 Turtlebot is considered a robot platform. It is composed of create or kuboki and kinect or XTion.

First install turtlebot, we use source to install.
Install the following commands in order (> is $, don’t copy it)

1> sudo apt-get install python-rosdep python-wstool ros-indigo-ros
2> sudo rosdep init
3> rosdep update

The above is preparatory work. Basically, ROS has been installed before.

Creating a workspace is a bit like creating a catkin workspace. Pay attention to do it one by one.

mkdir ~/rocon
cd ~/rocon
wstool init -j5 src https://raw.github.com/robotics-in-concert/rocon/release/indigo/rocon.rosinstall
source /opt/ros/indigo/setup.bash
rosdep install –from-paths src -i -y
catkin_make

mkdir ~/kobuki
cd ~/kobuki
wstool init src -j5 https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/kobuki.rosinstall
source ~/rocon/devel/setup.bash
rosdep install –from-paths src -i -y
catkin_make

mkdir ~/turtlebot
cd ~/turtlebot
wstool init src -j5 https://raw.github.com/yujinrobot/yujin_tools/master/rosinstalls/indigo/turtlebot.rosinstall
source ~/kobuki/devel/setup.bash
rosdep install –from-paths src -i -y
catkin_make

1> . ~/turtlebot/devel/setup.bash 
2> rosrun kobuki_ftdi create_udev_rules
3> echo "source ~/turtlebot/devel/setup.bash" >> ~/.bashrc

After everything is done, there will be three more folders, kuboki, rocon, and turtlebot. Under each folder are three folders, src, devel, and build.

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