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 Ubuntu 16.04 and ROS Kinetic Kame.
Install Ubuntu on Remote PC
Download and install the Ubuntu 16.04 on the Remote PC (your desktop or laptop PC) from the following link.
If you need more help for installing Ubuntu, check out the step-by-step guide from the link below.
Install ROS on Remote PC
The following script will allow you to simplify the ROS installation procedure. Run the following command in a terminal window. The terminal application can be found with the Ubuntu search icon on the top left corner of the screen, or you can use shortcut key for terminal is Ctrl-Alt-T. After install ROS, please reboot Remote PC.
$ 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
If you prefer manual installation, please following the link below.
NOTE: In order to check which packages are installed, please check this link out. install_ros_kinetic.sh
NOTE:
- ROBOTIS ROS packages support Melodic Morenia, however, it is recommended to use Kinetic Kame for TurtleBot3.
- In case of upgrading ROS to Melodic Morenia, please make sure that third party ROS packages are fully supported.
Install Dependent ROS Packages
The next step is to install dependent packages for TurtleBot3 control on Remote PC.
$ 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 ros-kinetic-interactive-markers
$ cd ~/catkin_ws/src/
$ 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.
Network Configuration
ROS requires IP addresses in order to communicate between TurtleBot PC and the remote PC. The remote PC and TurtleBot PC should be connected to the same wifi router.
Enter the below command on the terminal window of the remote PC to find out the IP address of the remote PC.
$ ifconfig
Text strings in the rectangle is the IP address of the Remote PC.
Enter the below command.
$ nano ~/.bashrc
Press alt+/ to end line of the file.
Modify the address of localhost in the ROS_MASTER_URI and ROS_HOSTNAME with the IP address acquired from the above terminal window.
Then, source the bashrc with below command.
$ source ~/.bashrc