Installation

[Thxssio]

Make the workspace | Faça o espaço de trabalho

mkdir ~/catkin_ws
cd catkin_ws
mkdir -p src
catkin_make
cd src

Clone the required repositories | Clone os repositórios necessários

git clone https://github.com/turtlebot/turtlebot.git
git clone https://github.com/turtlebot/turtlebot_msgs.git
git clone https://github.com/turtlebot/turtlebot_apps.git
git clone https://github.com/turtlebot/turtlebot_simulator

Following yujinrobot/kobuki#427

git clone https://github.com/yujinrobot/yujin_ocs.git

Remove all but | Remover todos os 'yocs_cmd_vel_mux', 'yocs_controllers', and | e 'yocs_velocity_smoother'

mv yujin_ocs/yocs_cmd_vel_mux yujin_ocs/yocs_controllers yujin_ocs/yocs_velocity_smoother .
rm -rf yujin_ocs

Add the battery monitor package | # Adicione o pacote do monitor de bateria

git clone https://github.com/ros-drivers/linux_peripheral_interfaces.git
mv linux_peripheral_interfaces/laptop_battery_monitor ./
rm -rf linux_peripheral_interfaces

You need to MANUALLY, for now, apply the changes proposed in | Você precisa MANUALMENTE, por enquanto, aplicar as alterações propostas no ros-drivers/linux_peripheral_interfaces#18

Clone the MELODIC branch of the | Clone o branch MELÓDICO do kobuki git

git clone https://github.com/yujinrobot/kobuki.git

sudo apt install liborocos-kdl-dev -y
sudo apt install ros-noetic-joy
rosdep install --from-paths . --ignore-src -r -y

Build the packages | # Construir os pacotes

cd ..
catkin_make

If you have a LDS-01 laser mounted on the robot | Se você tiver um laser LDS-01 montado no robô

sudo apt install ros-noetic-hls-lfcd-lds-driver -y

If you have a 3d sensor | # Se você tiver um sensor 3d

sudo apt install ros-melodic-openni2-launch -y
sudo apt install ros-melodic-depthimage-to-laserscan -y

echo source "$HOME/catkin_ws/devel/setup.bash" >> ~/.bashrc
sudo adduser $USER dialout

Setting up the udev rule for creating a /dev/ link to the LIDAR if you have one

You need to define the file /etc/udev/rules.d/60-hlds-laser.rules with the following content

On precise, for some reason, USER and GROUP are getting ignored.

So setting mode = 0666 for now.

SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0666", GROUP:="dialout", SYMLINK+="LDS01"

Followed by

sudo udevadm control --reload-rules
sudo udevadm trigger

You should then be able to access the device through /dev/LDS01