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Install ROS and Packages (Burger and Waffle)

Warning : The contents in this chapter corresponds to the SBC of TurtleBot3 (Raspberry Pi 3 or Intel® Joule™) which will be the main computer of TurtleBot3. Do NOT apply this instruction to your Remote PC (your desktop PC or laptop).

Note : This instruction takes about 2 hours to install ROS and TurtleBot3 related packages. Elapsed time may vary depending on network environment.

[TurtleBot] There are two ways to install ROS. If you prefer manual installation, please take the second method.

First Method

[TurtleBot] Install ROS by using a simple installation script file.

Tip : The terminal application can be found with the Ubuntu search icon on the top left corner of the screen. Shortcut key for terminal is Ctrl-Alt-T.

[TurtleBot Burger]

  sudo apt-get update
  sudo apt-get upgrade
  wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic_rp3.sh && chmod 755 ./install_ros_kinetic_rp3.sh && bash ./install_ros_kinetic_rp3.sh

[TurtleBot Waffle]

  sudo apt-get update
  sudo apt-get upgrade
  wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh && chmod 755 ./install_ros_kinetic.sh && bash ./install_ros_kinetic.sh

Note : After install ROS, please reboot Raspberry Pi or Intel® Joule™.

Second Method

[TurtleBot] You can start from “1.2 Setup your sources.list” and keep following the instruction until “1.7 Getting rosinstall” from below ROS installation instruction link.

Note : In order to see which packages are installed, please check this link out. https://raw.githubusercontent.com/oroca/oroca-ros-pkg/kinetic/ros_install.sh

Install Dependent Packages

[TurtleBot] The next step is to install dependent packages for TurtleBot3 control.

  sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation
  cd ~/catkin_ws/src
  git clone https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
  git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
  git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
  cd ~/catkin_ws && catkin_make

If catkin_make command is completed without any errors, the preparation for TurtleBot3 is done.

USB Settings (Burger and Waffle)

[TurtleBot] The following commands allow to use USB port for OpenCR1.0 without acquiring root permission.

  cd ~/catkin_ws/src/turtlebot3
  sudo cp ./99-turtlebot3-cdc.rules /etc/udev/rules.d/
  sudo udevadm control --reload-rules
  sudo udevadm trigger

Network Configuration (Burger and Waffle)

ROS requires IP addresses in order to communicate between TurtleBot3 and remote PC.

[TurtleBot] Enter the below command on the terminal window of the SBC in TurtleBot3 to find out the IP address of TurtleBot3.

  ifconfig

Texts in the rectangle is the IP address of the TurtleBot.

[TurtleBot] Enter the following command.

  gedit ~/.bashrc

[TurtleBot] Replace the localhost in the ROS_MASTER_URI address with the IP address acquired from Remote PC Network Configuration. Also replace the localhost in the ROS_HOSTNAME address with the IP address acquired from the above terminal window, which is the IP address of TurtleBot3.

[TurtleBot] Then, source the bashrc with below command.

  source ~/.bashrc