Turtlebot: Turtlebot development environment 开发环境搭建

Turtlebot: Turtlebot development environment 开发环境搭建 # Objectives: - Install Turtlebot2 on Ubuntu 16.04 (ROS Kinetic) - Install Turtlebot2 in Docker (Ubuntu 16.04) - Install Turtlebot3 in Ubuntu 18.04 (ROS Melodic) 版本简介 - Turtlebot2 - ROS Kinetic 安装没有问题，非常容易。 - ROS Melodic 目前不支持，需要安装的话，需要自己编译源码安装。我试了试，非常复杂，没试成功，暂时搁置。 - Turtlebot3 - ROS Kinetic OK - ROS Melodic OK # Installation ## Install Turtlebot 2 in ROS Kinetic ```sh sudo apt-get install ros-kinetic-turtlebot-* ``` 常用源码： ```sh git clone https://github.com/turtlebot/turtlebot.git git clone https://github.com/turtlebot/turtlebot_simulator.git git clone https://github.com/turtlebot/turtlebot_msgs.git git clone https://github.com/udacity/robot_pose_ekf git clone https://github.com/ros-perception/depthimage_to_laserscan.git ``` ## Install Turtlebot 2 in ROS Melodic ```sh https://github.com/turtlebot/turtlebot/issues/272: I was having issues on ubuntu 18.04 with melodic. I got it to work after building packages one by one. Here is what I did and worked for me. Hope this helps. Here are the dependent packages that you will need turtlebot_simulator turtlebot turtlebot_apps robot_pose_ekf depthimage_to_laserscan kobuki_msgs kobuki_desktop orocos-bayesian-filtering turtlebot_msgs joystick_drivers kobuki_description kobuki_bumper2pc yocs_cmd_vel_mux turtlebot_interactions Below are instructions for getting each package and related dependencies. my catkin workspace is at ~/source/workspaces/robotics/catkin_ws cd ~/source/workspaces/robotics/catkin_ws/src turtlebot_simulator git clone https://github.com/turtlebot/turtlebot_simulator turtlebot git clone https://github.com/turtlebot/turtlebot.git turtlebot_apps git clone https://github.com/turtlebot/turtlebot_apps.git robot_pose_ekf git clone https://github.com/udacity/robot_pose_ekf depthimage_to_laserscan git clone https://github.com/ros-perception/depthimage_to_laserscan.git kobuki_msgs git clone https://github.com/yujinrobot/kobuki_msgs.git kobuki_desktop git clone https://github.com/yujinrobot/kobuki_desktop.git cd kobuki_desktop/ rm -r kobuki_qtestsuite install opencv follow instructions given below since bayesian filter depends on it https://docs.microsoft.com/en-us/cognitive-toolkit/setup-opencv-on-linux if you get stdlib error use -DENABLE_PRECOMPILED_HEADERS=OFF flag on cmake orocos-bayesian-filtering git clone https://github.com/toeklk/orocos-bayesian-filtering.git cd .. catkin_make if you get errors here try building them individually cd src/orocos-bayesian-filtering/ make make install cd orocos_bfl/ ./configure make make install sudo make install We are not done yet, we need following dependencies... turtlebot_msgs cd ~/source/workspaces/robotics/catkin_ws/src git clone https://github.com/turtlebot/turtlebot_msgs.git joystick_drivers first install following dependencies for joystick drivers sudo apt-get install libusb-dev sudo apt-get install libspnav-dev sudo apt-get install ros-melodic-joystick-drivers sudo apt-get install bluetooth sudo apt-get install libbluetooth-dev sudo apt-get install libcwiid-dev git clone https://github.com/ros-drivers/joystick_drivers.git kobuki_description clone entire kobuki repository some where cd ~/repos/ git clone https://github.com/yujinrobot/kobuki.git copy only description package to your workspace src directory cd kobuki cp -r kobuki_description ~/source/workspaces/robotics/catkin_ws/src/ At this point catkin_make error should be gone and you should be able to roslaunch turtlebot_gazebo but with lots of red error on console. These are due to some missing nodes in following packages. kobuki_bumper2pc copy from kobuki repo cd ~/source/workspaces/robotics/catkin_ws/src/ cp -r ~/repos/kobuki/kobuki_bumper2pc . turtlebot_interactions git clone https://github.com/turtlebot/turtlebot_interactions.git yocs_cmd_vel_mux clone entire repo somewhere cd ~/repos git clone https://github.com/yujinrobot/yujin_ocs.git copy only cmd_vel_mux cd ~/source/workspaces/robotics/catkin_ws/src/ cp -r ~/repos/yujin_ocs/yocs_cmd_vel_mux/ . cd .. catkin_make ``` 我还没有试，应该问题不大。 ## Install Turtlebot 3 in ROS Kinetic ```sh $ sudo apt-get install ros-melodic-turtlebot3-* ``` ## Install Turtlebot 2 in Docker (16.04) It is a little difficult to install Turtlebot 2 in Docker. You may encounter problem about "ros-kinetic-librealsense". The reason is "The ros-kinetic-librealsense is based on Librelasense1 and support v4.4 kernel". My Linux (inside Docker) version: ```sh # uname -a Linux yubao-GP65-Leopard-9SD 5.3.0-59-generic #53~18.04.1-Ubuntu SMP Thu Jun 4 14:58:26 UTC 2020 x86_64 x86_64 x86_64 GNU/Linux # lsb_release -a No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 16.04.6 LTS Release: 16.04 Codename: xenial # lsb_release -r Release: 16.04 ``` My host machine version: ```sh ✗ uname -a Linux yubao-GP65-Leopard-9SD 5.3.0-59-generic #53~18.04.1-Ubuntu SMP Thu Jun 4 14:58:26 UTC 2020 x86_64 x86_64 x86_64 GNU/Linux ✗ lsb_release -a No LSB modules are available. Distributor ID: Ubuntu Description: Ubuntu 18.04.4 LTS Release: 18.04 Codename: bionic ``` We have to modify "ros-kinetic-librealsense" and install it. Use these codes to install Turtlebot2, and I have tried. It works for me. ```sh #####################Install turtlebot2########################### # Fix ros-kinetic-librealsense_probem: https://github.com/IntelRealSense/librealsense/issues/4781 # basic container setup RUN apt-get update \ && apt-get install -y lsb-release \ && apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \ && echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list \ && apt-get update # dependencies needed by librealsense. `deb -i` will not resolve these RUN apt-get install -y binutils cpp cpp-5 dkms fakeroot gcc gcc-5 kmod libasan2 libatomic1 libc-dev-bin libc6-dev libcc1-0 libcilkrts5 libfakeroot libgcc-5-dev libgmp10 libgomp1 libisl15 libitm1 liblsan0 libmpc3 libmpfr4 libmpx0 libquadmath0 libssl-dev libssl-doc libtsan0 libubsan0 libusb-1.0-0 libusb-1.0-0-dev libusb-1.0-doc linux-headers-4.4.0-159 linux-headers-4.4.0-159-generic linux-headers-generic linux-libc-dev make manpages manpages-dev menu patch zlib1g-dev \ && apt-get install -y libssl-dev libssl-doc libusb-1.0-0 libusb-1.0-0-dev libusb-1.0-doc linux-headers-4.4.0-159 linux-headers-4.4.0-159-generic linux-headers-generic zlib1g-dev # modify librealsense deb (unpack, replace script, repack) RUN apt-get download ros-kinetic-librealsense \ && dpkg-deb -R ros-kinetic-librealsense*.deb ros-rslib/ \ && wget https://gist.githubusercontent.com/dizz/404ef259a15e1410d692792da0c27a47/raw/3769e80a051b5f2ce2a08d4ee6f79c766724f495/postinst \ && chmod +x postinst \ && cp postinst ros-rslib/DEBIAN \ && dpkg-deb -b ./ros-rslib/ ros-kinetic-librealsense_1.12.1-0xenial-20190830_icrlab_amd64.deb # install container friendly libsense RUN dpkg -i ros-kinetic-librealsense_1.12.1-0xenial-20190830_icrlab_amd64.deb # lock from updates RUN apt-mark hold ros-kinetic-librealsense # Install Turtlebot2 RUN apt update \ && apt-get install -y ros-kinetic-turtlebot-* ####################################################################### ``` # Test ### Turtlebot 2 ```sh roslaunch turtlebot_gazebo turtlebot_world.launch ``` Demo: ### Turtlebot 3 ```sh ✗ export TURTLEBOT3_MODEL=burger ➜ RobotSimulator git:(master) ✗ roslaunch turtlebot3_gazebo turtlebot3_house.launch ```  # Possible Errors ## Error about ros-kinetic-librealsense - Environment - Docker ```sh docker --version Docker version 19.03.11, build 42e35e61f3 ``` - Ubuntu 16.04 - Cuda 10.2 - Problem ```sh ros-kinetic-turtlebot-simulator depends on ros-kinetic-turtlebot-gazebo; however: Package ros-kinetic-turtlebot-gazebo is not configured yet. ros-kinetic-turtlebot-simulator depends on ros-kinetic-turtlebot-stage; however: Package ros-kinetic-turtlebot-stage is not configured yet. ros-kinetic-turtlebot-simulator depends on ros-kinetic-turtlebot-stdr; however: Package ros-kinetic-turtlebot-stdr is not configured yet. dpkg: error processing package ros-kinetic-turtlebot-simulator (--configure): dependency problems - leaving unconfigured Processing triggers for libc-bin (2.23-0ubuntu11) ... Errors were encountered while processing: ros-kinetic-librealsense ros-kinetic-realsense-camera ros-kinetic-turtlebot-bringup ros-kinetic-turtlebot-navigation ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-stage ros-kinetic-turtlebot-stdr ros-kinetic-turtlebot-simulator E: Sub-process /usr/bin/dpkg returned an error code (1) ``` - Solution ```sh https://github.com/IntelRealSense/librealsense/issues/2402: The ros-kinetic-librealsense is based on Librelasense1 and support v4.4 kernel. In case you need to deploy it with kernel 4.15 I would suggest the following: Switch to kernel 4.4 and then install the package normally, i.e: sudo apt-get install ros-kinetic-librealsense. Switch to kernel 4.15 and then install librealsense2-dkms package only. The dkms for librealsense2 is backward-compatible with all devices librealsense1 supported as well. ``` ros-kinetic-librealsense fails on install within container: https://github.com/IntelRealSense/librealsense/issues/4781 我觉的，应该先要把 ros-kinetic-librealsense 安上，Turtlebot是依赖这个包的，然而在Docker中这个包的安装会有点麻烦。按这个链接里讲的做，最终成功了。 ## TURTLEBOT3_MODEL (Turtlebot3) ```sh ✗ roslaunch turtlebot3_gazebo turtlebot3_house.launch ... logging to /tmp/ros/e2d5df6e-b606-11ea-a809-c0b883f2e8ec/roslaunch-yubao-GP65-Leopard-9SD-14058.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. RLException: Invalid tag: environment variable 'TURTLEBOT3_MODEL' is not set. Arg xml is The traceback for the exception was written to the log file ``` Solution: ```sh ✗ export TURTLEBOT3_MODEL=burger ``` # References - [turtlebot-GitHub](https://github.com/turtlebot) - [Check Kernal version, Ubuntu16.04](https://wiki.ubuntu.com/Kernel/Support?action=AttachFile&do=view&target=16.04.x+Ubuntu+Kernel+Support+Schedule.svg) - [gaunthan/Turtlebot2-On-Melodic](https://github.com/gaunthan/Turtlebot2-On-Melodic) 没试过 - [ROS机器人实例 —— TurtleBot](https://zhuanlan.zhihu.com/p/35822939) - [How to Launch the TurtleBot3 Simulation With ROS](https://automaticaddison.com/how-to-launch-the-turtlebot3-simulation-with-ros/) - [Turtlebot3 Manual](https://emanual.robotis.com/docs/en/platform/turtlebot3/pc_setup/#install-ubuntu-on-remote) - [Turtlebot入门教程-安装Turtlebot(ubuntu18.04+Melodic)](https://www.ncnynl.com/archives/201903/2884.html)