turtlebot2-tutorials

Laptop Setup

Install Ubuntu 16.04 and ROS Kinetic using the Turtlebot 16.04 USB stick

1. Insert Turtlebot 16.04 USB stick into laptop
2. Power on laptop
3. Press F12 to enter the boot menu
4. Select boot from flash drive device (USB HDD: General UDisk)
5. Follow the Ubuntu Installation Guide
   • Note: Check the box to allow the use of proprietary software.
6. Power off the laptop and remove the USB stick

Troubleshoot: No Ubuntu in boot menu

1. Power on Laptop
2. Press F12 to enter the boot menu
3. Select boot from flash drive device (USB HDD: General UDisk)
4. Boot into the live CD by selecting Try Ubuntu
5. Follow the Boot-Repair instructions.

Install ROS Kinetic Desktop-Full

1. Follow the ROS Ubuntu installation guide
2. Install Turtlebot packages

     sudo apt install ros-kinetic-turtlebot* ros-kinetic-astra-* -y
   

3. Install Other required packages:

     sudo apt install git chrony -y
   

4. (Optional) Install Turtlebot Branding:

   mkdir ~/tmp && cd ~/tmp
   git clone https://github.com/TurtleBot-Mfg/turtlebot-doc-indigo
   git clone https://github.com/TurtleBot-Mfg/turtlebot-env-indigo
   git clone https://github.com/TurtleBot-Mfg/turtlebot-branding-indigo
   git clone https://github.com/TurtleBot-Mfg/turtlebot-wallpapers
   sudo cp -r ~/tmp/turtlebot-branding-indigo/root/lib/plymouth/themes /usr/share/plymouth/themes
   sudo cp -r ~/tmp/turtlebot-branding-indigo/root/usr/share/themes /usr/share/plymouth/themes
   sudo cp -r ~/tmp/turtlebot-doc-indigo/root/etc/skel/* /etc/skel/.
   cp ~/tmp/turtlebot-doc-indigo/root/etc/skel/Desktop/turtlebot-doc.desktop ~/Desktop
   sudo cp -r ~/tmp/turtlebot-doc-indigo/root/usr/share/doc/turtlebot /usr/share/doc/.
   sudo cp -r ~/tmp/turtlebot-env-indigo/root/etc/* /etc/.
   sudo cp -r ~/tmp/turtlebot-env-indigo/root/usr/share/glib-2.0/schemas /usr/share/glib-2.0/schemas/.
   sudo /usr/bin/glib-compile-schemas /usr/share/glib-2.0/schemas/
   sudo cp -r ~/tmp/turtlebot-wallpapers/root/usr/share/backgrounds/* /usr/share/backgrounds/.
   

5. Install Orbbec Astra udev rules

   mkdir ~/tmp
   cd ~/tmp
   wget https://raw.githubusercontent.com/orbbec/astra/master/install/orbbec-usb.rules
   sudo cp orbbec-usb.rules /etc/udev/rules.d/.
   

6. Setup Turtlebot Parameters in Bashrc

   echo export TURTLEBOT_BASE=kobuki >> ~/.bashrc
   echo export TURTLEBOT_3D_SENSOR=astra >> ~/.bashrc
   echo export TURTLEBOT_STACK=hexagons >> ~/.bashrc 
   

Due to incorrect NTP time servers, configure the same NTP zone between all ROS computers:

sudo ntpdate ntp.ubuntu.com

You may need to install ntpdate first:

sudo apt-get install ntpdate -y

Return to the main README page