深蓝学院—机器人学基础学习笔记——第一章（环境配置）
作者：互联网
chapter1-homework
前言
因为课程建议使用ros-melodic版本，但我此前已经在ubuntu20.04安装了ros-noetic版本,安装过程出了点小插曲，故此简单记录下ros-noetic版本下安装Turtlebot2的过程，给大家排排雷，如有不足之处欢迎广大同仁批评指正，以免误人子弟。
1.跟着Lec 1 homework.pdf 教程走,创建功能包
cd ~/catkin_sl_ws_01/src
catkin_create_pkg fall2022 std_msgs rospy roscp
cd ~/catkin_sl_ws_01
catkin_make
2.install turtlebot2 on noetic
参考资料：https://github.com/hanruihua/Turtlebot2_on_Noetic
mkdir ~/catkin_sl_ws_01/src -p
cd ~/catkin_sl_ws_01/src
git clone https://github.com/hanruihua/Turtlebot_on_noetic.git
cd Turtlebot_on_noetic
sh turtlebot_noetic.sh
sh turtlebot_noetic.sh这一步，我失败了很多次，是网络的问题，中间有错误的话多运行几次就好了。
紧接着，回到工作空间进行编译
cd ~/catkin_sl_ws_01
catkin_make
修改~/.bashrc文件
sudo vim ~/.bashrc
在最下面一行插入如下内容，按i进入编辑模式
source ~/catkin_sl_ws_01/devel/setup.bash
按Esc :wq 保存退出
然后打开新的终端
以上是正常步骤，但本人在CMake编译这一步出现了一些错误，catkin_make，提示找不到一些包，此时，就需要本着缺什么装什么的原则补齐再编译就好了，以下为我遇到的一些问题：
-- Checking for module 'libusb' -- No package 'libusb' found
sudo apt install -y libusb-dev
继续catkin_make
-- Checking for module 'libftdi' -- No package 'libftdi' found
sudo apt install libftdi-dev
继续catkin_make,出现：
Could not find a package configuration file provided by "Sophus" with any
of the following names:
SophusConfig.cmake
sophus-config.cmake
Add the installation prefix of "Sophus" to CMAKE_PREFIX_PATH or set
"Sophus_DIR" to a directory containing one of the above files. If "Sophus"
provides a separate development package or SDK, be sure it has been
installed.
继续装
sudo apt install ros-noetic-sophus
继续catkin_make,出现：
image_geometryConfig.cmake
image_geometry-Config.cmake
继续装
sudo apt install ros-noetic-image-geometry
继续catkin_make,出现：
gazebo_rosConfig.cmake
gazebo_ros-Config.cmake
装...
sudo apt install ros-noetic-gazebo-ros
继续catkin_make,出现：
gazebo_pluginsConfig.cmake
gazebo_plugins-Config.cmake
装...
sudo apt install ros-noetic-gazebo-plugins
继续catkin_make,编译到8%挂了
/bin/sh: 1:pyrcc5: not found
再装...
sudo apt install pyqt5-dev-tools
成功！
3.继续回到教程，启动Gazebo
roscd fall2022
mkdir launch
cd launch
vim gazebo.launch
把下面文件复制粘贴到gazebo.launch中，按Esc ：wq 保存退出
<launch>
<arg name="world_file" default="worlds/empty.world"/>
<arg name="urdf" default="$(find
turtlebot_description)/robots/kobuki_hexagons_astra.urdf.xacro" />
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg urdf)" />
<!-- include two nodes gazebo (server) and gazebo_gui (client) -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_file)"/>
</include>
<!-- Gazebo model spawner -->
<node name="spawn_turtlebot_model" pkg="gazebo_ros" type="spawn_model"
args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model mobile_base"/>
<!-- Velocity muxer -->
<node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>
<node pkg="nodelet" type="nodelet" name="cmd_vel_mux"
args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
<param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml"/>
<remap from="cmd_vel_mux/output" to="mobile_base/commands/velocity"/>
</node>
<!-- Publish robot state -->
<node pkg="robot_state_publisher" type="robot_state_publisher"
name="robot_state_publisher">
<param name="publish_frequency" type="double" value="30.0" />
</node>
</launch>
紧接着，运行launch文件就好了
roslaunch fall2022 gazebo.launch
成功！
继续，再开一个新的终端
roslaunch turtlebot_teleop keyboard_teleop.launch
这里我又报错了：
RLException: [keyboard_teleop.launch] is neither a launch file in package [turtlebot_teleop] nor is ...
如果你遇到和我一样的情况，先检查环境变量是否添加，若还是不行，删掉文件重新编译一次
cd ~/catkin_sl_ws_01
rm -rf build/ devel/
catkin_make
然后再运行
4.继续跟随教程，Set up robot arm in Gazebo.
cd ~/catkin_sl_ws_01/src
git clone https://github.com/UCR-Robotics/interbotix_ros_arms.git
cd ~/catkin_ws
下一步，采用鱼香ROS大大提供的方法
sudo pip install rosdepc
sudo rosdepc init
rosdepc update
继续
cd ~/catkin_sl_ws_01
rosdepc install --from-paths src --ignore-src -r -y
继续
sudo apt install python-pip
sudo pip install modern_robotics
继续
cd ~/catkin_ws
catkin_make
如果上面catkin_make有问题，建议重复上面删除文件再重新编译的步骤
打开一个新的终端
roslaunch interbotix_moveit interbotix_moveit.launch robot_name:=rx150 use_gazebo:=true
成功！
结语：
丢失部分命令行和截图，凭记忆复现，难免出错，望各位批评指正，多多海涵！
e-mail：w954514378816272@163.com
标签：noetic,catkin,make,sudo,深蓝,第一章,ws,install,机器人学 来源： https://www.cnblogs.com/ChangciWei/p/16581871.html