0%

下载Navigation2源码来学习

下面的操作是基于galactic

代码下载

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
#安装git和编译工具
sudo apt-get install git python3-vcstool build-essential python3-colcon-common-extensions
mkdir -p turtlebot3_ws/src
cd turtlebot3_ws/

#下载turtlebot3代码
git clone https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3.git src/turtlebot3 -b galactic-devel
git clone https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git src/turtlebot3_msgs -b galactic-devel
git clone https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git src/turtlebot3_simulations -b galactic-devel

#下载navigation2
git clone https://ghproxy.com/https://github.com/ros-planning/navigation2.git src/navigation2 -b galactic
git clone https://ghproxy.com/https://github.com/ros-planning/navigation2_tutorials.git src/navigation2_tutorials -b master

#下载teb_local_planner
git clone https://ghproxy.com/https://github.com/rst-tu-dortmund/costmap_converter.git src/costmap_converter -b ros2
git clone https://ghproxy.com/https://github.com/rst-tu-dortmund/teb_local_planner.git src/teb_local_planner -b ros2-master

注意:链接中的https://ghproxy.com/ 为使用代理下载github代码。

可选使用vcs工具下载源码:

安装vcs

1
sudo apt-get install python3-vcstool

在turtlebot3_ws目录下新建tmp.repos 。复制下面的内容到该文件并保存。

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
repositories:
costmap_converter:
type: git
url: https://ghproxy.com/https://github.com/rst-tu-dortmund/costmap_converter.git
version: ros2
navigation2:
type: git
url: https://ghproxy.com/https://github.com/ros-planning/navigation2.git
version: galactic
navigation2_tutorials:
type: git
url: https://ghproxy.com/https://github.com/ros-planning/navigation2_tutorials.git
version: master
teb_local_planner:
type: git
url: https://ghproxy.com/https://github.com/rst-tu-dortmund/teb_local_planner.git
version: ros2-master
turtlebot3:
type: git
url: https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3.git
version: galactic-devel
turtlebot3_msgs:
type: git
url: https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
version: galactic-devel
turtlebot3_simulations:
type: git
url: https://ghproxy.com/https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
version: galactic-devel

turtlebot3_ws目录下运行

1
vcs import src < tmp.repos

解决依赖

注意:rosdepc是通过小鱼的一键安装工具安装的。

1
2
3
rosdepc update

rosdep install --from-paths src --ignore-src --rosdistro galactic -yr

编译

在turtlebot3_ws目录下source编译好的程序

1
colcon build --symlink-install
1
source install/setup.bash

觉得有用就点赞吧!

我是首飞,一个帮大家填坑的机器人开发攻城狮。

另外在公众号《首飞》内回复“机器人”获取精心推荐的C/C++,Python,Docker,Qt,ROS1/2等机器人行业常用技术资料。

公众号