虚拟机从零实现机器人控制

1. 系统安装

因Docker不适合需要图形界面的开发，因此使用虚拟机VMware方便可视化界面方式查看效果，相关软件可以从官网下载，这里有一整套免费安装文件百度网盘地址：

2. ROS安装

Ubuntu 22.04：https://docs.ros.org/en/humble/Installation.html

sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
sudo apt update
sudo apt upgrade
sudo apt install ros-humble-desktop
sudo apt install ros-dev-tools
source /opt/ros/humble/setup.bash

Ubuntu 16.04：https://wiki.ros.org/kinetic/Installation/Ubuntu

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 install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
apt-cache search ros-kinetic
sudo rosdep init 
rosdep update
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

3. Turtlebot3安装

sudo apt update
sudo apt install -y ros-humble-turtlebot3 ros-humble-turtlebot3-simulations
sudo apt install python3-colcon-common-extensions ros-humble-gazebo-ros-pkgs
export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_gazebo empty_world.launch.py

# 新终端
source /opt/ros/humble/setup.bash
export TURTLEBOT3_MODEL=burger
ros2 run turtlebot3_teleop teleop_keyboard

看到蓝色（机器人激光）区域在缓慢向上移动，经过几分钟到工作区外了。