具体参考：
1. 安装：
sudo apt-get install ros-hydro-turtlebot ros-hydro-turtlebot-apps ros- hydro-turtlebot-viz ros-hydro-turtlebot-simulator ros-hydro-kobuki-ftdi> . /opt/ros/hydro/setup.bash rosrun kobuki_ftdi create_udev_rules环境配置： echo "source /opt/ros/hydro/setup.bash" >> ~/.bashrc注： wstool provides commands to manage several local SCM repositories (supports git, mercurial, subversion, bazaar) based on a single workspace definition file (.rosinstall). wstool replaces the rosws tool for catkin workspaces. wstool is not a rewrite. It is intended to reuse most of the rosws tool code and thus also produce .rosinstall files that are compatible with those used by rosws.创建工作空间 > mkdir ~/turtlebot > cd ~/turtlebot > wstool init src https://raw.github.com/turtlebot/turtlebot/hydro/turtlebot.rosinstall -j8 > source /opt/ros/hydro/setup.bash > rosdep install –from-paths src -i -y > catkin_make kobuki : source ~/turtlebot/devel/setup.bash > rosrun kobuki_ftdi create_udev_rules echo "source ~/turtlebot/devel/setup.bash" >> ~/.bashrcNetwork Time ProtocolInstall Chrony sudo apt-get install chronymanually sync NTP sudo ntpdate ntp.ubuntu.com网络配置：（无工作站就可不用设）2. bringupDeb Bringup Instructions > source /opt/ros/hydro/setup.bash # Without the app manager/android capabilities > roslaunch turtlebot_bringup minimal.launch # Launching with the app manager > roslaunch turtlebot_bringup minimal_with_appmanager.launch # For dual master app manager/android connectivity > rocon_launch turtlebot_bringup bringup.concertCreate dashboard rqt -s kobuki_dashboard > roslaunch turtlebot_dashboard turtlebot_dashboard.launch3. 维护与保养 （dashboard）Power Management 4.3D Visualisation（显示） roslaunch turtlebot_bringup minimal.launch roslaunch turtlebot_bringup 3dsensor.launch roslaunch turtlebot_rviz_launchers view_robot.launch选中： DepthCloud Registered DepthCloud Image PointCloud Registered PointCloud 5. 键盘控制roslaunch turtlebot_teleop keyboard_teleop.launch6 交互式标记控制 Interactive Markers Teleop安装： sudo apt-get install ros-hydro-turtlebot-interactive-markers服务：turtlebot_marker_server： roslaunch turtlebot_interactive_markers interactive_markers.launchrviz： roslaunch turtlebot_rviz_launchers view_robot.launch控制方法： 勾中"Interactive Makers" ，，选中面板工具顶部 "Interact"7.校正：（ %20Odometry%20and%20Gyro ） roslaunch turtlebot_calibration calibrate.launch（First position TurtleBot at the center of a long straight wall (at least 2 meters long)rosrun rqt_reconfigure rqt_reconfigure , facing towards the wall, at about 30 cm away from the wall. ）set the parameters ：rosrun rqt_reconfigure rqt_reconfigure 高级应用：导航8 使用gmapping建图：SLAM Map Building with TurtleBot8.1导航功能介绍 Setup the Navigation Stack for TurtleBot 网址：%20the%20Navigation%20Stack%20for%20TurtleBot Key files： turtlebot_navigation package Move base：Planner Change speed limits Goal tolerance Cost computing biases Amcl (localization) Gmapping (map building)8.2 Launch the gmapping app Bring up the robot roslaunch turtlebot_bringup minimal.launch Run the gmapping demo app roslaunch turtlebot_navigation gmapping_demo.launch Launch rviz: # Groovy or later roslaunch turtlebot_rviz_launchers view_navigation.launch Drive the robot and Save the map rosrun map_server map_saver -f /tmp/my_map9 自动导航 （）Autonomous Navigation of a Known Map with TurtleBotThis tutorial describes how to use the TurtleBot with a previously known map.启动; roslaunch turtlebot_bringup minimal.launch运行导航DEMO并加载地图 roslaunch turtlebot_navigation amcl_demo.launch map_file:=/tmp/my_map.yamlRVIZ显示 # Groovy or later roslaunch turtlebot_rviz_launchers view_navigation.launch –screen9.1导航操作：1. 定位turtlebot（初始化）: 2D Pose Estimate2. 远程操作:可以与导航同时进行。远程控制优先级高于导航。3. 发送目标：2D Nav Goal 注：如果要在导航目标到达前让他停止，发送短一点到目标。10 跟随 （）寻找窗口前方的目标，寻找质心并保持相应距离跟随。10.1 跟随参数到更改# groovy or laterrosrun rqt_reconfigure rqt_reconfigureSelect camera/follower on the reconfigure guiPlay with the parameters using the sliders; you will see the TurtleBot’s following behavior change as you move the sliders.11 全景演示 The TurtleBot Panorama Demo ()Turtlebot-Android Pairing (%20Pairing)turtlebot_android()
看着书里九万五千公里的绚丽。又或是和我一样，
