{"id":26921,"date":"2024-02-18T08:19:00","date_gmt":"2023-07-06T04:29:05","guid":{"rendered":"https:\/\/www.silicloud.com\/zh\/blog\/%e5%9c%a8ubuntu%e7%b3%bb%e7%bb%9f%e4%b8%8a%e6%93%8d%e4%bd%9ckobuki%e7%9a%84%e6%ad%a5%e9%aa%a4%e3%80%82-3\/"},"modified":"2025-08-11T23:47:38","modified_gmt":"2025-08-11T15:47:38","slug":"%e5%9c%a8ubuntu%e7%b3%bb%e7%bb%9f%e4%b8%8a%e6%93%8d%e4%bd%9ckobuki%e7%9a%84%e6%ad%a5%e9%aa%a4%e3%80%82-3","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/zh\/blog\/%e5%9c%a8ubuntu%e7%b3%bb%e7%bb%9f%e4%b8%8a%e6%93%8d%e4%bd%9ckobuki%e7%9a%84%e6%ad%a5%e9%aa%a4%e3%80%82-3\/","title":{"rendered":"\u5728Ubuntu\u7cfb\u7edf\u4e0a\u64cd\u4f5ckobuki\u7684\u6b65\u9aa4"},"content":{"rendered":"<h2>\u8fdb\u884c\u8bbe\u7f6e\u7684\u7248\u672c<\/h2>\n<p>\u672c\u6b21\u4f7f\u7528\u4ee5\u4e0b\u7248\u672c<\/p>\n<ul class=\"post-ul\">\nUbuntu : 12.04 (Precise)<br \/>\nROS : groovy\n<\/ul>\n<h2>2. ROS\u7684\u5b89\u88c5\u914d\u7f6e<\/h2>\n<p>\u8bf7\u53c2\u8003\u4ee5\u4e0b\u7f51\u5740\uff0c\u5728Ubuntu\u7cfb\u7edf\u4e0a\u5b89\u88c5ROS\u3002<br \/>\nhttp:\/\/wiki.ros.org\/groovy\/Installation\/Ubuntu<\/p>\n<p>\u6211\u8ba4\u4e3a\uff0c\u5982\u679c\u5728\u63d0\u5230\u7684Ubuntu\u7248\u672c\u4e0a\uff0c\u5e94\u8be5\u6ca1\u4ec0\u4e48\u95ee\u9898\u3002<\/p>\n<pre class=\"post-pre\"><code>\/\/ Setup sources.list\r\n$ sudo sh -c 'echo \"deb http:\/\/packages.ros.org\/ros\/ubuntu precise main\" &gt; \/etc\/apt\/sources.list.d\/ros-latest.list'\r\n\r\n\/\/ Set up keys\r\n$ wget http:\/\/packages.ros.org\/ros.key -O - | sudo apt-key add -\r\n\r\n\/\/ Installation\r\n$ sudo apt-get update\r\n$ sudo apt-get install ros-groovy-desktop-full\r\n\r\n\/\/ Initialize rosdep\r\n$ sudo rosdep init\r\n$ rosdep update\r\n\r\n\/\/ Environment setup\r\n$ echo \"source \/opt\/ros\/groovy\/setup.bash\" &gt;&gt; ~\/.bashrc\r\n$ source ~\/.bashrc\r\n$ source \/opt\/ros\/groovy\/setup.bash\r\n\r\n\/\/ Getting rosinstall\r\n$ sudo apt-get install python-rosinstall\r\n<\/code><\/pre>\n<h2>3. \u5236\u4f5c\u5c0f\u732b\u7ed2\u7403\u7684\u51c6\u5907<\/h2>\n<p>\u5728ROS\u4e2d\uff0c\u6211\u4eec\u4f7f\u7528\u540d\u4e3acatkin\u7684\u8f6f\u4ef6\u5305\u7ba1\u7406\u5de5\u5177\u6765\u7ba1\u7406\u4f7f\u7528\u7684\u8f6f\u4ef6\u5305\u3002<\/p>\n<p>\u51c6\u5907<\/p>\n<pre class=\"post-pre\"><code>\/\/ \u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u306e\u6e96\u5099\r\n$ source \/opt\/ros\/groovy\/setup.bash\r\n$ mkdir -p ~\/ros\/catkin_ws\/src\r\n$ cd ~\/ros\/catkin_ws\/src\r\n$ catkin_init_workspace\r\n\r\n$ cd ~\/ros\/catkin_ws\r\n$ catkin_make\r\n<\/code><\/pre>\n<p>\u4f1a\u521b\u5efa\u4e00\u4e2a\u540d\u4e3adevel\u7684\u6587\u4ef6\u5939\u3002<br \/>\n\u786e\u4fdd\u52a0\u8f7d\u5176\u4e2d\u7684setup.bash\u6587\u4ef6\u3002<\/p>\n<pre class=\"post-pre\"><code>$ source ~\/work\/ros\/catkin_ws\/devel\/setup.bash\r\n<\/code><\/pre>\n<p>\u5982\u679c\u5c06\u4ee5\u4e0b\u5185\u5bb9\u6dfb\u52a0\u5230\u7528\u6237\u7684.bashrc\u6587\u4ef6\u4e2d\u4f1a\u66f4\u5bb9\u6613<\/p>\n<pre class=\"post-pre\"><code>source \/opt\/ros\/groovy\/setup.bash\r\nsource \/home\/ [\u30e6\u30fc\u30b6\u540d] \/work\/ros\/catkin_ws\/devel\/setup.bash\r\n<\/code><\/pre>\n<h2>4. \u7528\u4e8e TurtleBot \u7684\u8f6f\u4ef6\u5305<\/h2>\n<p>\u53ef\u4ee5\u5f88\u7b80\u5355\u5730\u901a\u8fc7apt-get\u83b7\u53d6TurtleBot\u7684\u8f6f\u4ef6\u5305\u3002<\/p>\n<pre class=\"post-pre\"><code>$ sudo apt-get install ros-groovy-turtlebot\r\n$ sudo apt-get install ros-groovy-turtlebot-apps\r\n$ sudo apt-get install ros-groovy-turtlebot-viz\r\n<\/code><\/pre>\n<h2>5. \u7528\u4e8ekobuki\u7684\u5305\u88c5<\/h2>\n<p>\u5bf9\u4e8eKobuki\u7684\u8f6f\u4ef6\u5305\uff0c\u4ecegit\u4e0a\u83b7\u53d6\u6e90\u4ee3\u7801\u5e76\u8fdb\u884c\u6784\u5efa\u662f\u53ef\u9760\u7684\u505a\u6cd5\u3002<\/p>\n<pre class=\"post-pre\"><code>$ cd ~\/ros\/catkin_ws\/src\r\n$ git clone -b groovy-devel https:\/\/github.com\/yujinrobot\/kobuki.git\r\n$ cd ~\/ros\/catkin_ws\r\n$ catkin_make --force-cmake\r\n\r\n$ cd ~\/ros\/catkin_ws\r\n$ catkin_make install\r\n<\/code><\/pre>\n<p>\u6b64\u5916\uff0c\u8ba9\u6211\u4eec\u5c06\u4ee5\u4e0b\u5185\u5bb9\u6dfb\u52a0\u5230.bashrs\u6587\u4ef6\u4e2d\u3002<\/p>\n<pre class=\"post-pre\"><code>source home\/ [\u30e6\u30fc\u30b6\u540d] \/work\/ros\/catkin_ws\/install\/setup.bash\r\n<\/code><\/pre>\n<h2>6. kobuki\u9a71\u52a8\u7a0b\u5e8f<\/h2>\n<p>\u8bf7\u5728\u8fde\u63a5kobuki\u4e4b\u524d\u5b89\u88c5\u548c\u8bbe\u7f6e\u9a71\u52a8\u7a0b\u5e8f\u3002<\/p>\n<pre class=\"post-pre\"><code>$ rosrun kobuki_ftdi create_udev_rules\r\n<\/code><\/pre>\n<p>\u5f53\u5c06kobuki\u8fde\u63a5\u5230\u7535\u8111\u540e\uff0c\u5b83\u5c06\u88ab\u6302\u8f7d\u5230\/dev\/kobuki\u4e0a\u3002<\/p>\n<h2>7. \u8ba9\u5b83\u52a8\u8d77\u6765\u5427\uff01\uff01<\/h2>\n<p>\u5230\u8fd9\u4e00\u6b65\uff0c\u60a8\u53ef\u4ee5\u7528\u952e\u76d8\u63a7\u5236kobuki\u4e86\uff01\u6211\u4eec\u6765\u542f\u52a8\u8bd5\u4e00\u8bd5\u5427\u3002<\/p>\n<pre class=\"post-pre\"><code>\/\/ \u5168\u3066\u5225\u306e\u30bf\u30fc\u30df\u30ca\u30eb\u3067\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\r\n$ roscore\r\n$ roslaunch kobuki_node minimal.launch\r\n$ roslaunch kobuki_keyop keyop.launch\r\n<\/code><\/pre>\n<p>\u73b0\u5728\u53ef\u4ee5\u4f7f\u7528\u952e\u76d8\u8fdb\u884c\u64cd\u4f5c\u3002<br \/>\n\u4f7f\u7528\u65b9\u5411\u952e\u524d\u8fdb\u3001\u540e\u9000\u3001\u65cb\u8f6c\u3002<br \/>\n\u6309\u4e0b\u7a7a\u683c\u952e\u5373\u53ef\u505c\u6b62\u3002<\/p>\n<p>\u6b64\u5916\uff0c\u6267\u884c\u4ee5\u4e0b\u547d\u4ee4\u5373\u53ef\u8fd4\u56de\u5230\u9a7b\u8239\u53f0\u3002<\/p>\n<pre class=\"post-pre\"><code>$ roslaunch kobuki_auto_docking minimal.launch\r\n<\/code><\/pre>\n<p>\u5c06\u8bbe\u5907\u5bf9\u63a5\u5230\u5e95\u5ea7\u7684\u6307\u4ee4\u5982\u4e0b\u3002<\/p>\n<pre class=\"post-pre\"><code>$ roslaunch kobuki_auto_docking activate.launch\r\n<\/code><\/pre>\n<p>\u633a\u597d\u73a9\u7684\uff01\uff01<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8fdb\u884c\u8bbe\u7f6e\u7684\u7248\u672c \u672c\u6b21\u4f7f\u7528\u4ee5\u4e0b\u7248\u672c Ubuntu : 12.04 (Precise) ROS : groovy  [&hellip;]<\/p>\n","protected":false},"author":3,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[227],"class_list":["post-26921","post","type-post","status-publish","format-standard","hentry","category-uncategorized","tag-227"],"yoast_head":"<!-- This site is optimized with the Yoast SEO Premium plugin v21.5 (Yoast SEO v21.5) - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ 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