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Full Build Instructions
These instructions showcase the installation procedure for Turtlebots pre-loaded with software and using the SR300 Developer Kit by Creative. For the newer Turtlebot2i kits that come with the SR305 camera by Intel, refer to the installation guide here. As an FYI, the only difference between these two camera models is the housing, but the module inside is the same.
sudo apt-get install build-essential libgtk-3-dev
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt update && sudo apt upgrade
Optional:
sudo apt remove libreoffice*
sudo apt install vino ssh gedit
vino-preferences
Check:
- Allow other users to view your desktop
- Allow other users to control your desktop
Uncheck:
- You must confirm each access to this machine.
- Ubuntu:
gsettings set org.gnome.Vino require-encryption false
- Ubuntu Mate:
Add to startup group on Mate:
- System > Control Center > Startup Applications
- Click "Add" Button
- Name: Remote Desktop
- Command Path: /usr/lib/vino/vino-server
sudo apt install git build-essential ros-kinetic-desktop
sudo rosdep init
rosdep update
apt-cache search ros-kinetic (not actual dependency)
wget -O enable_kernel_sources.sh http://bit.ly/en_krnl_src
bash ./enable_kernel_sources.sh
- Sensor package
sudo apt install ros-kinetic-librealsense ros-kinetic-realsense-camera
- Kernel 4.10 installation work-around
sudo apt-get install libglfw3-dev
cd ~
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense
mkdir build && cd build
cmake ../
make && sudo make install
cd ..
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
./scripts/patch-realsense-ubuntu-xenial.sh
sudo apt install ros-kinetic-turtlebot* libudev-dev ros-kinetic-find-object-2d ros-kinetic-rtabmap-ros ros-kinetic-moveit ros-kinetic-octomap-ros ros-kinetic-manipulation-msgs ros-kinetic-controller-manager python-wxgtk3.0
source /opt/ros/kinetic/setup.bash
cd ~
mkdir -p ~/turtlebot2i/src
cd ~/turtlebot2i/src
git clone https://github.com/Interbotix/turtlebot2i.git -b turtlebot2i_old .
git clone https://github.com/Interbotix/arbotix_ros.git -b turtlebot2i
git clone https://github.com/Interbotix/phantomx_pincher_arm.git -b turtlebot2i_old
git clone https://github.com/Interbotix/ros_astra_camera -b filterlibrary
git clone https://github.com/Interbotix/ros_astra_launch
cd ~/turtlebot2i
catkin_make
- You will need to place the following at the bottom of your ~/.bashrc file
- Edit .bashrc with your choice of editor ( gedit, nano, vi )
- Be sure to replace example.hostname with your computer's hostname
source /opt/ros/kinetic/setup.bash
alias goros='source devel/setup.sh'
export ROS_HOSTNAME=example.hostname
export TURTLEBOT_3D_SENSOR=astra
export TURTLEBOT_3D_SENSOR2=sr300
export TURTLEBOT_BATTERY=None
export TURTLEBOT_STACKS=interbotix
export TURTLEBOT_ARM=pincher
sudo usermod -a -G dialout turtlebot
cd ~/turtlebot2i/
goros
rosrun kobuki_ftdi create_udev_rules
rosrun astra_camera create_udev_rules
cd ~/turtlebot2i/src/turtlebot2i_misc
gedit 99-turtlebot2i.rules
-
At this point we need to execute a couple commands that will return the serial number for the ArbotiX and the Kobuki. Remove and/or Re-plug both the Arbotix and the Kobuki USB cables and ensure they are powered on before running these commands:
-
udevadm info -a -n /dev/ttyUSB0 | grep '{serial}' | head -n1 -
udevadm info -a -n /dev/ttyUSB1 | grep '{serial}' | head -n1 -
The output from these commands are the serial numbers used to fill in the blanks of lines 6 and 7 of the 99-turtlebot2i.rules file.
sudo cp ./99-turtlebot2i.rules /etc/udev/rules.d/