Operational steps for environment configuration

Installation preparation

$ sudo apt-get install python-rosdep python-wstool ros-kinetic-ros
$ sudo apt-get install pyqt5-dev-tools
$ sudo rosdep init
$ rosdep update

Create three workspaces, rocon, kobuki, turtlebot, download and compile the source code

Create a rocon directory, download and compile it, and rocon has a corresponding kinetic s version

$ mkdir ~/rocon
$ cd ~/rocon
$ wstool init -j4 src https://raw.github.com/robotics-in-concert/rocon/release/kinetic/rocon.rosinstall
(Note: If the download fails, go to github Found the appropriate file to configure)
$ source /opt/ros/kinetic/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make

Create kobuki directory, download and compile

$ mkdir ~/kobuki
$ cd ~/kobuki
$ wstool init -j4 src https://raw.githubusercontent.com/yujinrobot/yujin_tools/kinetic-devel/rosinstalls/kinetic/kobuki.rosinstall
$ source ~/rocon/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make

Create turtlebot directory, download and compile

$ mkdir ~/turtlebot
$ cd ~/turtlebot
$ wstool init -j4 src https://raw.github.com/yujinrobot/yujin_tools/kinetic-devel/rosinstalls/kinetic/turtlebot.rosinstall
$ source ~/kobuki/devel/setup.bash
$ rosdep install --from-paths src -i -y
$ catkin_make

Add workspace to bashrc file

$ echo "source ~/rocon/devel/setup.bash" >> ~/.bashrc
$ echo "source ~/kobuki/devel/setup.bash" >> ~/.bashrc
$ echo "source ~/turtlebot/devel/setup.bash" >> ~/.bashrc

Enable new environment

$ source ~/.bashrc

Test environment in effect

$ roscd turtlebot

Entering the directory normally means success

Generate kobuki alias

$ rosrun kobuki_ftdi create_udev_rules

Install kinect driver

$ sudo apt-get install ros-kinetic-openni-* ros-kinetic-openni2-* ros-kinetic-freenect-*

turtlebot-kinetic test

Test if the ros installation is working

Open new terminal input in industrial computer

$ roscore

If ROS installation is displayed correctly

$ started core service [/rosout]

Check Alias

Enter the detection command:

$ ls /dev/kobuki

The corresponding device/dev/kobuki appears, if not, add an alias:

$ rosrun kobuki_ftdi create_udev_rules

Plug in the USB cable to perform the above detection command.

Move by remote control (TurtleBot only, netbook via Turtlebot)

1. Turtlebot switch on and the status lights up.
2. Start Turtlebot, go to netbook, open a new terminal, and run the following command:

$ roslaunch turtlebot_bringup minimal.launch

3. Start the keyboard remote control, go to netbook, open another new terminal, and run the following commands:

$ roslaunch turtlebot_teleop keyboard_teleop.launch

4. Click on the keyboard "i" to move forward.

You can also control the movement of the robot by publishing a theme:

$ rostopic pub -r 10 /cmd_vel_mux/input/navi geometry_msgs/Twist '{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'