不是按照学习的时间顺序总结。
[pc]
roscore[turtlebot]
roslaunch turtlebot3_bringup turtlebot3_robot.launch工作空间里，source一下环境变量。
source devel/setup.bash[turtleBot3]
sudo apt-get install ssh sudo raspi-config #选择 Interfacing Options #导航并选择SSH #选择Yes #选择OK #选择Finish[PC]
ssh couny(usrName)@IP_OF_TurtleBot3输入密码就OK.
安装turtlebot3源码：
cd ~/catkin_ws/src/ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git git clone https://github.com/ROBOTIS-GIT/turtlebot3.git cd ~/catkin_ws && catkin_make环境设置：
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc时间同步：
#主从分别安装chrony sudo apt-get install chrony #主从分别安装ntpdate sudo apt-get install ntpdate #主从分别同步时间 sudo ntpdate ntp.ubuntu.com # 检测时间是否同步 dateROS需要IP地址在turtlebot和远程PC之间进行通信，要求在同一个wifi局域网下。分别在turtlebot和PC，执行如下命令获得对应的IP地址：
ifconfig #修改.bashrc gedit ~/.bashrcTURTLEBOT配置如下：
export ROS_MASTER_URI=http://IP_OF_PC:11311 export ROS_HOSTNAME=IP_OF_TURTLEBOTPC配置如下：
export ROS_MASTER_URI=http://IP_OF_PC:11311 export ROS_HOSTNAME=IP_OF_PCROS_MASTER <roscore请大师！> PC端。 让环境生效：
source ~/.bashrc[Remote PC]安装驱动
sudo apt-get install ros-kinetic-hls-lfcd-lds-driver[TurtelBot]设置权限
sudo chmod a+rw /dev/ttyUSB0[Remote PC]增加view_laser.launch，用于显示激光雷达
roscd hls_lfcd_lds_driver cd launch sudo vim view_laser.launch内容如下：
<launch> <node name="rviz" pkg="rviz" type="rviz" args="-d $(find hls_lfcd_lds_driver)/rviz/hlds_laser.rviz" /> </launch>测试： [TurtelBot] 启动雷达
roslaunch hls_lfcd_lds_driver hlds_laser.launch[Remote PC] 启动rviz
roslaunch hls_lfcd_lds_driver view_laser.launch串口权限问题 1、检测串口
ls -l /dev |grep ttyUSB2、赋予权限
sudo chmod 666 /dev/ttyUSB03、在编译的ROS包中运行launch文件
roslaunch rplidar_ros view_rplidar.launch[TurtleBot] 在树莓派上进行摄像头设置：
sudo raspi-config进入图形界面Tab、空格、enter键选择。
选择 3 Interfacing Options选择 P1 CameraEnable camera interface[TurtleBot] 设置完之后测试以下是否能正常使用，输入以下以下命令，正常情况下树莓派系统的桌面上会生成一张摄像头捕捉到的图像。
raspistill -v -o test.jpg[TurtleBot] 安装ros驱动包
cd ~/catkin_ws/src git clone https://github.com/UbiquityRobotics/raspicam_node.git sudo apt-get install ros-kinetic-compressed-image-transport ros-kinetic-camera-info-manager gedit /etc/ros/rosdep/sources.list.d/30-ubiquity.list添加下面这段话到 30-ubiquity.list 后保存：
yaml https://raw.githubusercontent.com/UbiquityRobotics/rosdep/master/raspberry-pi.yaml继续
rosdep update cd ~/catkin_ws rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y cd ~/catkin_ws && catkin_make[TurtleBot] 运行raspicam节点
roslaunch turtlebot3_bringup turtlebot3_rpicamera.launch或者执行下面这条命令进行测试
roslaunch raspicam_node camerav2_1280x960.launch[Remote PC] 执行以下命令
rqt_image_view桌面出现显示摄像头即时内容的gui界面时，说明已成功安装.
（每次安装都得重来，按照步骤来就是了。网速没问题就没问题。） 修改ceres-solver地址： github地址：https://github.com/ceres-solver/ceres-solver.git 注意：如果在树莓派下安装需要使用至少16G卡，并扩展2G的swap空间.
库安装 推荐使用rosdep.但更快安装推荐使用Ninja. 安装依赖：
sudo apt-get install -y google-mock libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx ros-kinetic-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev安装步骤：
#Install wstool and rosdep. sudo apt-get update sudo apt-get install -y python-wstool python-rosdep ninja-build #Create a new workspace in 'cartographer_ws'. mkdir cartographer_ws cd cartographer_ws wstool init src Merge the cartographer_turtlebot.rosinstall file and fetch code for dependencies. wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_turtlebot/master/cartographer_turtlebot.rosinstall gedit src/.rosinstall #更改ceres-solver中地址改为下面的地址： #>>uri: https://github.com/ceres-solver/ceres-solver.git wstool update -t src #Install deb dependencies. rosdep update #install proto3 src/cartographer/scripts/install_proto3.sh rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y #Build and install. catkin_make_isolated --install --use-ninja -j1 source install_isolated/setup.bash #添加到.bashrc echo "source ~/cartographer_ws/install_isolated/setup.bash" >> ~/.bashrc[Remote PC] 打开终端，然后运行SLAM启动文件和rviz
#[1]在turtlebot_ws/下进行source工作空间 source devel/setup.bash #[2]在cartographer_ws/下进行source工作空间然后运行。 #<cartographer建图> echo "source ~/cartographer_ws/install_isolated/setup.bash" >> ~/.bashrc # <cartographer建图> source install_isolated/setup.bash export TURTLEBOT3_MODEL=waffle_pi #最终的roslaunch是在cartographer_ws/下进行的。 roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=cartographer #SLAM: gmapping, cartographer, hector, karto, frontier_exploration, RTAB-Map[Remote PC] 启动键盘操作
source devel/setup.bash export TURTLEBOT3_MODEL=waffle_pi roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch[Remote PC] 打开终端，然后运行地图保存节点
rosrun map_server map_saver -f ~/map #map.pgm和map.yaml 在 ~/ 目录里创建持续更新。
