[TurtleBot3][Dashing] 2. Remote PC setup

https://emanual.robotis.com/docs/en/platform/turtlebot3/quick-start/#pc-setup

ROBOTIS e-Manual

 

 

WARNING: The contents in this chapter corresponds to the Remote PC (your desktop or laptop PC) which will control TurtleBot3. Do not apply this instruction to your TurtleBot3.

NOTE: This instruction was tested on Linux with Ubuntu 18.04 and ROS2 Dashing Diademata.

 

1. Download and Install Ubuntu on PC

1. Download the proper Ubuntu 18.04 LTS Desktop image for your PC from the links below.
   • Ubuntu 18.04 LTS Desktop image (64-bit)
2. Follow the instruction below to install Ubuntu on PC.
   • Install Ubuntu desktop

 

 

2. Install ROS 2 on Remote PC

Open the terminal with Ctrl+Alt+T and enter below commands one at a time.
In order to check the details of the easy installation script, please refer to the script file.

$ sudo apt-get update
$ sudo apt-get upgrade
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros2_dashing.sh
$ chmod 755 ./install_ros2_dashing.sh
$ bash ./install_ros2_dashing.sh

If the above installation fails, please refer to the official ROS2 Dashing installation guide.

 

 

 

3. Install Dependent ROS 2 Packages

• Open the terminal with Ctrl+Alt+T from Remote PC.
• Install Colcon
  

  $ sudo apt install python3-colcon-common-extensions​

• Install Gazebo9
  

  $ curl -sSL http://get.gazebosim.org | sh​

• Uninstall Gazebo11 if installed previously
  

  $ sudo apt remove gazebo11 libgazebo11-dev
  $ sudo apt install gazebo9 libgazebo9-dev
  $ sudo apt install ros-dashing-gazebo-ros-pkgs​

• Install Cartographer
  

  $ sudo apt install ros-dashing-cartographer
  $ sudo apt install ros-dashing-cartographer-ros​

• Install Navigation2
  

  $ sudo apt install ros-dashing-navigation2
  $ sudo apt install ros-dashing-nav2-bringup​

• Install vcstool
  

  $ sudo apt install python3-vcstool​

 

 

 

4. Install TurtleBot3 Packages

Install TurtleBot3 via Debian Packages.

$ source /opt/ros/dashing/setup.bash
$ sudo apt install ros-dashing-dynamixel-sdk

Build TurtleBot3 Packages from source.

$ mkdir -p ~/turtlebot3_ws/src
$ cd ~/turtlebot3_ws/src/
$ git clone -b dashing-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone -b dashing-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b dashing-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/turtlebot3_ws/
$ colcon build --symlink-install
$ source ~/.bashrc

 

 

 

 

5. Environment Configuration

Set the ROS environment for PC.

$ echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
$ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
$ source ~/.bashrc