# 预备工作

## 1.换源

```cpp

# 首先备份源列表

$ sudo cp /etc/apt/sources.list /etc/apt/sources.list_backup

# 打开sources.list文件

$ sudo gedit /etc/apt/sources.list

# 在文件最前面添加阿里云镜像源

deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse

deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse

deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse

# 刷新列表

$ sudo apt-get update

$ sudo apt-get upgrade

$ sudo apt-get install build-essential

```

## 2.配置Hosts

输入 `sudo vim /etc/hosts`，在最后添加

```cpp

$ 199.232.69.194 github.global.ssl.fastly.net

$ 185.199.111.133 raw.githubusercontent.com

```

注意：不要添加 `140.82.112.3 github.com` ，会影响后续安装

# 一、安装ros2 dashing

## 1. 设置语言环境

（1）设置环境[检查UTF-8]

```cpp

$ sudo locale-gen en_US en_US.UTF-8

$ sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8

$ export LANG=en_US.UTF-8

```

## 2.添加密钥

```cpp

$ sudo apt update && sudo apt install curl gnupg2 lsb-release

$ curl http://repo.ros2.org/repos.key | sudo apt-key add -

```

## 3.将存储库添加到源列表

```cpp

$ sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'

```

## 4.安装ROS2包

```cpp

$ sudo apt update && sudo apt install ros-dashing-desktop

```

## 5.安装argcomplete

```cpp

$ sudo apt install python3-argcomplete

```

## 6.Sourcing the setup script in .bashrc

```cpp

$ echo "source /opt/ros/dashing/setup.bash" >> ~/.bashrc

```

## 7.安装额外的中间件

如果我的记忆没有错乱，这个时间会挺久

```cpp

$ sudo apt update

$ sudo apt install ros-dashing-rmw-opensplice-cpp # for OpenSplice

$ sudo apt install ros-dashing-rmw-connext-cpp # for RTI Connext (requires license agreement)

```

## 8.测试

```cpp

# 新终端，运行talker例子(注意：新终端)

$ ros2 run demo_nodes_cpp talker

# 新终端，运行listener例子

$ ros2 run demo_nodes_py listener

```

出现以下内容，则说明ROS2安装成功

# 二、安装Gazebo9

## 1.安装ROS2依赖包

```cpp

# Install Colcon

$ sudo apt install python3-colcon-common-extensions

# Install Cartographer dependencies

$ sudo apt install -y \

    google-mock \

    libceres-dev \

    liblua5.3-dev \

    libboost-dev \

    libboost-iostreams-dev \

    libprotobuf-dev \

    protobuf-compiler \

    libcairo2-dev \

    libpcl-dev \

    python3-sphinx

```

## 2.update

```cpp

$ sudo apt-get update

```

## 3.安装gazebo

```cpp

$ sudo apt install ros-dashing-gazebo-ros-pkgs

```

## 4.在虚拟机中，需要关闭硬件加速

```cpp

$ echo " export SVGA_VGPU10=0" >> ~/.bashrc

$ source ~/.bashrc

```

## 5.测试

```cpp

$ gazebo --verbose /opt/ros/dashing/share/gazebo_plugins/worlds/gazebo_ros_diff_drive_demo.world

```

## 6.继续安装ROS2依赖包

```cpp

# Install Cartographer

$ sudo apt install ros-dashing-cartographer

$ sudo apt install ros-dashing-cartographer-ros

# Install Navigation2

$ sudo apt install ros-dashing-navigation2

$ sudo apt install ros-dashing-nav2-bringup

# Install vcstool

$ sudo apt install python3-vcstool

```

对了，检查一下`home`文件夹下，这个时候应该有了一个`.gazebo`文件

# 三、安装turtlebot3

## 1.创建工作空间

```cpp

$ mkdir -p ~/turtlebot3_ws/src

$ cd ~/turtlebot3_ws

```

## 2.下载

（注意：一定要选择dashing-devel的分支！！！乖乖听话，否则，会变得不幸）

下载以下三个项目，放在`~/turtlebot3_ws/src`下边

```cpp

 $ https://github.com/ROBOTIS-GIT/turtlebot3/tree/dashing-devel

 $ https://github.com/ROBOTIS-GIT/turtlebot3_msgs/tree/dashing-devel

 $ https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/dashing-devel

 $ (如需dqn，下载)git clone -b ros2 https://github.com/ROBOTIS-GIT/turtlebot3_machine_learning.git

```

## 3.编译

 这个时候，你应该站在`~/tb3_ws`

```cpp

$ colcon build --symlink-install

```

又是泪了，如果出现类似以下错误

缺啥install啥，比如我这缺`dynamixel-sdk`，就执行以下命令，然后重新`colcon build --symlink-install`

```cpp

$ sudo apt-get install ros-dashing-dynamixel-sdk

```

## 4.添加环境变量

```cpp

$ echo 'source ~/tb3_ws/install/setup.bash' >> ~/.bashrc

$ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc

$ source ~/.bashrc

$ echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc

```

# 四、启动gazebo不同环境

## 1. 下载gazebo的模型，加速运行gazebo

```cpp

$ cd ~/.gazebo/

# 下边两句建议用第二句，会更快

$ git clone https://github.com/osrf/gazebo_models models

$ git clone https://hub.fastgit.org/osrf/gazebo_models models

```

## 2.需要删除.git目录，要不运行会出错

```cpp

$ rm -rf models/.git

```

## 3.设置GAZEBO_MODEL_PATH变量, 指定机器人类型为burger

```cpp

$ echo 'export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/tb3_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models' >> ~/.bashrc

$ echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc

$ source ~/.bashrc

```

## 4.启动环境

**（1）启动Fake Node**

```cpp

$ ros2 launch turtlebot3_fake_node turtlebot3_fake_node.launch.py

```

启动后弹出rviz，并显示小车模型

打开一个新的终端，启动键盘控制（下边示例，启动键盘同理）

```cpp

$ ros2 run turtlebot3_teleop teleop_keyboard

```

**（2）启动empty地图**

新开终端，启动gezebo，并带有empty地图

```cpp

$ ros2 launch turtlebot3_gazebo empty_world.launch.py

```

**（3）启动world地图**

新开终端，启动gezebo，并带有world地图

```cpp

$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

```

**（4）启动house地图**

新开终端，启动gezebo，并带有house地图

```cpp

$ ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py

```

参考 [linux下apt安装ROS2 Dashing](https://www.ncnynl.com/archives/201801/2253.html)

参考 [Turtlebot3-ROS2入门教程](https://www.ncnynl.com/archives/201809/2582.html)

参考 [ros2 dashing 安装gazebo](https://blog.csdn.net/weixin_42454034/article/details/102560726)

参考 [ROS2初体验之SLAM与导航仿真](https://www.guyuehome.com/5522)

参考 [ros2与turtlebot3仿真教程-启动gazebo不同环境](https://www.ncnynl.com/archives/202008/3847.html)