TurtleBot3 waffle(¤«ï¼‰ROS ¹³° 用ˆ·½ç”¨‰‹†Œ ??¤«ç”¨ˆ·½ç”¨‰‹†Œ20171226... 

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TurtleBot3 waffleROS

0.3.4

2017/12/26

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0.3.1 2017/12/06 waffle

0.3.2 2017/12/06

0.3.3 2017/12/25 TurtleBot3 waffleROS

0.3.4 2017/12/26 intel Joule

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waffle ........................................................................................... 6

1..iso ................................................................................................ 6

2. UltraISO U ............................................................................. 7

3.waffle intel Joul .................................................................................. 9

4. ................................................................................................................12

5. ................................................................................................................15

Ubuntu16.04 ...................................................................... 16

Ubuntu Ubuntu16.04 ...................................... 19

ROS .................................................................................................... 20

1. ................................................................................................................20

2. ........................................................................................................20

3. ....................................................................................................................21

4. ROS .................................................................................................................21

5. ROS ............................................................................................................21

6. ROS .................................................................................................................21

OpenCR ...................................................................................... 24

1. ...........................................................................................................24

2. Arduino IDE................................................................................................24

3. Arduino ........................................................................................................24

4. Boards Manager OpenCR1.0 ...........................................................25

5. ...............................................................................................................27

.................................................................................................... 28

1. Turtlebot3 ......................................................................................................28

2. Turtlebot-waffle ............................................................................................28

3. RViz ................................................................................................................28

.................................................................................................... 30

1..........................................................................................................................30

2..........................................................................................................................30

3..........................................................................................................................30

SLAM........................................................................................................... 31

1..........................................................................................................................31

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2 .......................................................................................31

3.................................................................................................31

............................................................................................................ 32

1..........................................................................................................................32

2..........................................................................................................................32

3. ................................................................................................................32

............................................................................................................ 34

1. TurtleBot3 Simulation ...................................................................................34

2. ................................................................................................................34

3.Gazebo ...........................................................................................................35

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1.

1: http://www.rosrobot.cn/

2http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/

2.

3.

4.

5.

6.

7.

http://www.rosrobot.cn/http://emanual.robotis.com/docs/en/platform/turtlebot3/overview/

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waffle

1..iso

waffle Linux U

Ubuntu 16.04

https://developer.ubuntu.com/core/get-started/intel-joule#alternative-install:-ubunt

u-desktop-16.04-lts

1()https://pan.baidu.com/s/1gfy29Wn

2(): https://pan.baidu.com/s/1kV6Bwof

https://developer.ubuntu.com/core/get-started/intel-joule#alternative-install:-ubuntu-desktop-16.04-ltshttps://developer.ubuntu.com/core/get-started/intel-joule#alternative-install:-ubuntu-desktop-16.04-ltshttps://pan.baidu.com/s/1gfy29Wnhttps://pan.baidu.com/s/1kV6Bwof

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2. UltraISO U

UltraISO

1. img

2. .UltraISO

3. UltraISO -

4.

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5. UltraISO

6. USB-HDD+

U

7. U

8.

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3.waffle intel Joul

1.

micor HDMI HDMI HDMI

12VDC USB USB intel Joule

U Ubuntu

2.

1. USB USB intel Joule USB

2. USB

3. micor HDMI HDMI intel Joule HDMI

4.12V DC 220V intel Joule DC

intel Joule

5. Intel

Joule Linux

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6. U waffle F2F7

BIOS boot manager

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USB EFI USB Device

Ubuntu

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4.

U boot manager

EFI Usb Devive ()

BIOS U ,, U Ubuntu

Ubuntu(I)

1. Erase disk and install Ubuntu continue

2. MMC/SD card #2 (mmcblk1) - 15.7 GB MMC 016G32 continue

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3. wifi;

5.

6.

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7.

,

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5.

Turblebot3 Turblebot3 PC

Turblebot3 IP

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Ubuntu16.04

UltraISO

Ubuntu16.04.03-desktop-adm64.iso

U 8G 8G

UltraISO

UltraISO

ISO

>> ISO

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ISO

>>

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Ubuntu16.04

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UbuntuUbuntu16.04

1. Ubuntu16.04 U 64 F12

U Ubuntu

Ubuntu

2. Ubuntu Ubuntu

..

3.

+ 4

/

5G Ext4 /

swap

2048MB

boot

200MB Ext4 /boot

home :

Ext4 /home

/123 Ext4

4.

/boot /dev/sda6

5.

6.

7.

8.Ubuntu

http://mirror.pnl.gov/releases/xenial/

http://mirror.pnl.gov/releases/xenial/

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ROS

1.

ROS Linux /

Linux ubuntu Ubuntu

ROS

Ubuntu ROS ROS

ROS Ubuntu

ROS ROS Ubutnu

2016.3 ROS Kinetic Kame Ubuntu 16.04 (Xenial) /

Ubuntu 15.10 (Wily)

2015.3 ROS Jade Turtle Ubuntu 15.04 (Wily) /

Ubuntu LTS 14.04 (Trusty)

2014.7 ROS Indigo Igloo Ubuntu 14.04 (Trusty)

ubuntu14.04 Kinetic ,indigo

Ros ROS Kinetic Kame

2.

Ubuntu

"restricted" "universe "

"multiverse."

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3.

(Ctrl + Alt + T),

sudo sh