5.1 Installing the Prerequisites
$ sudo apt-get install ros-indigo-turtlebot-bringup \
ros-indigo-turtlebot-create-desktop ros-indigo-openni-* \
ros-indigo-openni2-* ros-indigo-freenect-* ros-indigo-usb-cam \
ros-indigo-laser-* ros-indigo-hokuyo-node \
ros-indigo-audio-common gstreamer0.10-pocketsphinx \
ros-indigo-pocketsphinx ros-indigo-slam-gmapping \
ros-indigo-joystick-drivers python-rosinstall \
ros-indigo-orocos-kdl ros-indigo-python-orocos-kdl \
python-setuptools ros-indigo-dynamixel-motor-* \
libopencv-dev python-opencv ros-indigo-vision-opencv \
ros-indigo-depthimage-to-laserscan ros-indigo-arbotix-* \
ros-indigo-turtlebot-teleop ros-indigo-move-base \
ros-indigo-map-server ros-indigo-fake-localization \
ros-indigo-amcl git subversion mercurial
5.2 Cloning the Indigo ros-by-example Repository
5.2.4 Cloning the rbx1 repository for Indigo for the first time
cd ~/catkin_ws/src
git clone https://github.com/pirobot/rbx1.git
cd rbx1
git checkout indigo-devel
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash
rospack profile
更新代码:
cd ~/catkin_ws/src/rbx1
git pull
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash
所有的 ROS By Example 包均以 rbx1 开头,用以下命令来查看
roscd rbx1
cd ..
ls -F
结果应为:
rbx1/
rbx1_apps/
rbx1_bringup/
rbx1_description/
rbx1_dynamixels/
rbx1_experimental/
rbx1_nav/
rbx1_speech/
rbx1_vision/
README.md
本教程中均用 roscd 来移动,比如移动到 rbx1_speech 包:
roscd rbx1_speech
5.3 About the Code Listings in this Book
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